System and method for hand-held steering wheel detection with offset mass correction

Abstract

A method includes receiving a steering wheel angle signal, generating a steering wheel velocity signal and a steering wheel acceleration signal, and synchronizing the steering wheel velocity signal and the steering wheel acceleration signal. The method also includes delaying the steering wheel angle signal, calculating a sum of the delayed steering wheel angle signal and a phase value, converting the sum of the delayed steering wheel angle signal and the phase value to radians, determining an offset correction value by calculating a sine function value of a sum of an operator torque estimate signal and a conversion of the phase value, calculating a product of the offset correction value and a calibratable value of a magnitude of an offset mass, adjusting the operator torque estimate signal by adding the product and the calibratable value of the magnitude of the offset mass, and determining whether an operator's hand of a vehicle is on a steering wheel based on the adjusted operator torque estimate signal.

Description

[0001] Cross-references to related applications

[0002] This patent application claims priority to U.S. Provisional Patent Application No. 63 / 314715, filed February 28, 2022, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to steering systems, and more specifically to the detection of hands-on-wheel steering in steering systems. Background Technology

[0004] Vehicles such as cars, trucks, SUVs, crossovers, minivans, ships, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation typically include steering systems, such as electric power steering (EPS), steer-by-wire (SbW), hydraulic steering, or other suitable steering systems. These vehicle steering systems generally control various aspects of the vehicle's steering, including providing steering assistance to the driver and controlling the steerable wheels. Summary of the Invention

[0005] This disclosure generally relates to steering systems.

[0006] One aspect of embodiments of this disclosure includes a method for detecting hand grip on a steering wheel. The method includes receiving a steering wheel angle signal from a sensor associated with the steering wheel of a vehicle, and generating a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal. The method further includes synchronizing the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal, and delaying the steering wheel angle signal at least based on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal. The method also includes determining whether the driver's hands are on the steering wheel based on an operator torque estimation signal.

[0007] Another aspect of embodiments of this disclosure includes a system for detecting hand grip on a steering wheel. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; delay the steering wheel angle signal at least based on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; and determine whether the vehicle operator's hands are on the steering wheel based on an operator torque estimation signal.

[0008] Another aspect of embodiments of this disclosure includes an apparatus for detecting hand grip on a steering wheel. The apparatus includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; calculate a damping value by determining the product of a steering wheel speed value indicated by the delayed steering wheel speed signal and a damping coefficient scale value; calculate an inertia value by determining the product of a steering wheel acceleration value indicated by the delayed steering wheel acceleration signal and a steering wheel inertia scale value; calculate a friction value by determining the product of a friction direction signal and a friction magnitude scale value; generate a delayed valve torque signal by delaying a received valve torque signal; delay the steering wheel angle signal based on the damping value, the inertia value, the friction value, and the delayed received valve torque signal; and determine whether the vehicle operator's hands are on the steering wheel based on an operator torque estimation signal.

[0009] Another aspect of embodiments of this disclosure includes a method for detecting hand grip on a steering wheel. The method includes receiving a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generating a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; and synchronizing the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal. The method further includes delaying the steering wheel angle signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; calculating a sum of an operator torque estimation signal and a phase value; converting the sum of the operator torque estimation signal and the phase value into radians; and determining an offset correction value by calculating a sine function value of the converted sum of the operator torque estimation signal and the phase value. The method further includes calculating a product of the offset correction value and a caliable value of the offset mass magnitude; adjusting the operator torque estimation signal using the product of the offset correction value and the caliable value of the offset mass magnitude; and determining whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0010] Another aspect of embodiments of this disclosure includes a system for detecting hand grip on a steering wheel. The system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; generate an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; calculate the sum of the operator torque estimation signal and a phase value; convert the sum of the operator torque estimation signal and the phase value into radians; determine an offset correction value by calculating a sine function value of the converted sum of the operator torque estimation signal and the phase value; calculate the product of the offset correction value and a calibrable value of the offset mass; adjust the operator torque estimation signal using the product of the offset correction value and the calibrable value of the offset mass; and determine whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0011] Another aspect of the embodiments of this disclosure is an apparatus for detecting hand grip on a steering wheel. The apparatus includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; generate an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; determine an offset correction value by calculating a sine function value of the sum of the operator torque estimation signal and a phase value; adjust the operator torque estimation signal by adding the product of the offset correction value and a calibrable value of the offset mass; and determine whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0012] These and other aspects of this disclosure are disclosed in the following detailed description of the embodiments and the accompanying drawings. Attached Figure Description

[0013] This disclosure can be better understood by reading the following detailed description in conjunction with the accompanying drawings. It should be emphasized that, by convention, the various features in the drawings are not drawn to scale. Instead, for clarity, the dimensions of the various features have been arbitrarily enlarged or reduced.

[0014] Figure 1 The vehicle based on the principles of this disclosure is shown in general.

[0015] Figure 2 A controller based on the principles of this disclosure is shown in general.

[0016] Figure 3 The recirculating ballsteering gear according to the principles of this disclosure is shown in general.

[0017] Figure 4 The ball steering gear of the hydraulic steering system according to the principles of this disclosure is generally shown.

[0018] Figures 5A-5B A schematic diagram of a hydraulic steering system control system based on the principles of this disclosure is shown in general.

[0019] Figure 6 A schematic diagram of a hand-grip detection system based on the principles of this disclosure is shown in general.

[0020] Figures 7A-7B A schematic diagram of an alternative hand-grip detection system based on the principles of this disclosure is shown in general.

[0021] Figure 8 A schematic diagram of an alternative hand-grip detection system based on the principles of this disclosure is shown in general.

[0022] Figures 9A-9B A schematic diagram of an alternative hand-grip detection system based on the principles of this disclosure is shown in general.

[0023] Figure 10 A schematic diagram of an alternative hand-grip detection system based on the principles of this disclosure is shown in general.

[0024] Figure 11 A schematic diagram of an alternative hand-grip detection system based on the principles of this disclosure is shown in general.

[0025] Figure 12 This is a flowchart of a method for detecting hand grip on a steering wheel based on the principles of this disclosure.

[0026] Figure 13 A schematic diagram of an alternative hand-grip detection system based on the principles of this disclosure is shown in general.

[0027] Figure 14 A flowchart of an alternative hand-grip detection method based on the principles of this disclosure is shown in general. Detailed Implementation

[0028] The following discussion pertains to various embodiments of this disclosure. While one or more of these embodiments may be preferred, the disclosed embodiments should not be construed as or otherwise used to limit the scope of this disclosure. Furthermore, those skilled in the art will understand that the following description has broad application, and the discussion of any embodiment is intended only as an example of that embodiment and is not intended to imply that the scope of this disclosure is limited to that embodiment.

[0029] As described, vehicles such as automobiles, trucks, SUVs, crossovers, minivans, ships, aircraft, all-terrain vehicles, recreational vehicles, or other suitable forms of transportation typically include a steering system, such as an electric power steering (EPS) system, a steer-by-wire (SbW) system, a hydraulic steering system, or other suitable steering system. Such a vehicle's steering system typically controls various aspects of the vehicle's steering, including providing steering assistance to the vehicle's operator and controlling the vehicle's steerable wheels.

[0030] Typically, hydraulic steering systems use a power steering pump to supply pressurized hydraulic fluid to recirculating ball steering gears or rack and pinion style steering gears. The level of torque assistance provided in such steering systems (e.g., to the vehicle operator) is determined by the amount of torque applied by the operator to the steering valve integrated into the steering gear.

[0031] The cross-section of the recirculating ball steering gear is approximately as follows: Figure 3 As shown. The gear includes an input shaft operatively connected to the vehicle's steering wheel. When torque is applied to the input shaft, a valve assembly is actuated to provide auxiliary pressure in chamber A or chamber B, depending on the direction of the torque, thereby assisting in steering the vehicle. A worm gear is attached to the bottom of the valve assembly, which provides thrust to the rack. As the valve assembly rotates in the steering gear, the rack translates along the worm's axis in a rack hole. The rack has teeth that mesh with teeth on the rocker arm shaft. As the rack moves axially in the rack hole, the rocker arm shaft rotates along its axis. A linkage arm is attached to the bottom of the rocker arm shaft, connecting the rocker arm shaft to a linkage mechanism in the vehicle. As the rocker arm shaft rotates, the rocker arm swings through an arc. This moves the steering linkage mechanism in the vehicle, causing the front wheels to angle to steer the vehicle.

[0032] Some hydraulic steering systems incorporate magnetic actuators into the valve assembly. This type of steering system allows for the implementation of advanced algorithms on the hydraulic system, such as variable force, lead and pull correction, active damping, and active return. It also provides the opportunity to receive torque commands from external algorithms on the vehicle, which can be included in the output torque.

[0033] exist Figure 4 The image generally shows a cross-section of a recirculating ball steering gear in such a hydraulic steering system (e.g., including a magnetic actuator). As generally shown, the assistance and connection from the steering wheel and wheels are functionally identical to those of the basic gear. The gear includes a magnetic actuator incorporated into a valve assembly to provide additional force to assist or restrain the operator during certain steering conditions. In these conditions, a controller supplies current to a coil, which determines the amount of torque provided by the magnetic actuator.

[0034] exist Figures 5A-5B The diagram shows a high-level block diagram of the controls for a hydraulic steering system. Measurements of the pressure differential across the pistons in the steering system, along with various vehicle signals (e.g., vehicle speed, steering wheel speed and angle, and estimates of operator torque), are used to generate the desired torque command. External torque command signals and external torque enable signals can also be received from the vehicle (e.g., by the controller). The external torque enable signal is evaluated along with signals such as pressure differential, steering wheel angle, vehicle speed, and hand-grip detection signals to determine whether these conditions are acceptable for allowing the external torque command.

[0035] The external command constraint box then determines the external signal quantity to be applied. The final torque box combines the internal and external torque commands to provide the final torque command. This torque command is provided to the current command module, which converts the desired torque command into a required current command, which is applied to the magnetic actuator coil in the steering gear. This current command, along with the measured differential pressure, is used to generate an estimate of the operator torque, which can be used in the next loop.

[0036] The estimated operator torque can be used by a hand-on-steering-wheel detection frame to generate a signal indicating whether the operator's hands are on the steering wheel. Figure 6 The diagram broadly illustrates an example of a steering wheel grip detection frame. The estimated operator torque signal is filtered. The absolute value of the filtered estimated operator torque, along with the vehicle speed, is used to select a gain value from a lookup table. This gain value typically has a higher positive value at high torque levels and a higher negative value when the torque is close to zero. The gain value is multiplied by the periodic rate of the steering wheel detection frame and integrated over time. Limits of 1 and -1 are applied to the integrating signal. The limited signal can be filtered before outputting the final steering wheel grip detection signal.

[0037] The estimated operator torque determined in this application is the torque applied across the hydraulic valve assembly. While this provides a reasonable estimate of the operator torque during low steering wheel speeds and steady-state conditions, it does not account for the inertia, damping, and friction effects of the steering wheel and column. This can lead to errors during rapid steering maneuvers.

[0038] Accordingly, systems and methods such as those described herein may be desired, configured to provide improved hand-grip detection. In some embodiments, the systems and methods described herein may be configured to use a steering wheel angle signal in addition to the estimated operator torque signal to improve performance during rapid steering wheel movements.

[0039] Figures 7A-7B A high-level block diagram of the steering system controls is shown, including a hands-on steering wheel detection block. The systems and methods described herein can be configured to use two input signals: a steering wheel angle signal and an updated steering wheel angle signal. The systems and methods described herein can be configured to receive the steering wheel angle signal from a vehicle's serial communication device or system. This signal may not be updated at the same periodicity as the hands-on steering wheel detection block. The systems and methods described herein can be configured to set the updated steering wheel angle signal to true when the steering wheel angle signal is updated on the serial communication bus.

[0040] The systems and methods described herein can be configured to update the steering wheel angle signal to false when the steering wheel angle signal is retained from a previous cycle. The systems and methods described herein can also be configured to modify the value of the steering wheel angle signal using the updated steering wheel angle signal to detect the steering wheel grip cycle rate (e.g., even if the steering wheel angle signal from serial communication has not changed).

[0041] Figure 8 The diagram generally illustrates the hand-on-steering-wheel detection frame. The system and method described herein can be configured to use data from (e.g., ...) Figures 7A-7B The torque estimation box estimates the torque, and uses elements that reflect the dynamic effects of the steering wheel and lever (column) as a function of steering wheel speed and steering wheel acceleration.

[0042] In some embodiments, the systems and methods described herein can be configured to use steering wheel angle (HWA) to calculate steering wheel speed (HWS) and steering wheel acceleration (Acc). For example, the systems and methods described herein can be configured to calculate the HWS at time step 1 from the HWA at time step 0 and time step 2, which can be defined as follows:

[0043] HWS1 = (HWA0 – HWA2) / (2 dT), where dT = time difference between time steps.

[0044] The systems and methods described herein can be configured to use a storage frame associated with a controller to store the value of HWS at additional time steps (e.g., such as HWS2, HWS3, HWS4, or other suitable time steps). The systems and methods described herein can be configured to calculate Acc at time step 2 using the HWS at time step 1 and time step 3, which can be defined as follows:

[0045] Acc2 = (HWS1 – HWS3) / (2 dT), where dT = time difference between time steps.

[0046] The systems and methods described in this paper can be configured to use storage frames to store the Acc value at additional time steps (e.g., Acc3, Acc4, or other suitable time steps).

[0047] Thus, as generally illustrated, the earliest time step for HWS can be calculated by delaying the current time step by one time step, while the earliest time step for Acc can be calculated by delaying the current time step by two time steps. To minimize the error in estimating the operator torque during rapid steering maneuvers, the system and method described herein can be configured to synchronize steering wheel-related signals such that the calculated HWS and Acc values ​​reference the same time step. For example, delayed HWS = HWS2, and delayed Acc = Acc2.

[0048] In some embodiments, the systems and methods described herein can be configured to estimate the values ​​of HWS and Acc when a hand-on-steering-wheel detection frame is calculated but the HWA has not yet been refreshed, by applying an additional time-step delay for a total of three time-step delays, and by linearly increasing the values ​​of HWS and Acc between HWS2 and HWS3 and between Acc2 and Acc3. For example, if the steering wheel angle is updated every five times, the systems and methods described herein calculate the hand-on-steering-wheel detection frame. The systems and methods described herein can be configured to calculate an HWS increment that is one-fifth of the difference between HWS2 and HWS3, which can be limited by the following:

[0049] HWS Inc = (HWS2 – HWS3) / 5

[0050] The system and method described in this paper can be configured to perform HWS each time a hand-on-steering-wheel detection frame is executed. Inc The value is added to the previous value of the delayed HWS until the HWA signal is updated.

[0051] Similarly, the system and method described in this paper can be configured to compute an Acc increment that is one-fifth of the difference between Acc2 and Acc3, which can be constrained by the following:

[0052] Acc Inc = (Acc2 – Acc3) / 5

[0053] The system and method described in this article can be configured to assign Acc each time a hand-on-steering-wheel detection frame is executed. Inc Add it to the previous value of the delayed Acc until the HWA signal is updated.

[0054] As described, Figures 9A-9B The diagram broadly illustrates the delayed steering wheel angle signal block for implementing the delayed HWA-related signal. The system and method described herein can be configured to calculate the delayed HWS and the delayed Acc signal, as well as the HWS, when the update signal value is true. Inc Signal and Acc Inc Signals, such as Figure 10 As shown in the middle.

[0055] When the update signal value is false, the system and method described in this paper can be configured to use HWS. Inc Signal and Acc Inc The signal values ​​are incremented by the delayed HWS and the delayed Acc signal (e.g., its value is in...). Figure 11 (as shown in the general outline).

[0056] Refer again Figure 8 The system and method described herein can be configured to calculate an operator torque estimate signal and pass the signal to a steering wheel grip detection integral routine. The system and method described herein can be configured to calculate the operator torque estimate signal by determining the sum of four signals representing a damping component, an inertial component, a friction component, and a valve torque component. The damping component is calculated by multiplying a delayed steering wheel speed signal by a damping coefficient scale value.

[0057] The inertial component is calculated by multiplying the delayed steering wheel acceleration signal by the steering wheel inertia scale value. The friction component is calculated by multiplying the friction direction signal by the friction magnitude scale value. The initial friction direction signal is determined by the sign of the delayed steering wheel velocity signal. If the delayed steering wheel velocity signal is positive, the initial direction signal is 1. If the delayed steering wheel velocity signal is negative, the initial direction signal is -1. If the delayed steering wheel velocity signal is zero, the initial direction signal is the same as the value from the previous loop.

[0058] The system and method described in this paper can be configured to apply a low-pass filter to an initial friction direction signal to obtain a final friction direction signal, which transitions from 1 to -1 or from -1 to 1 at a relatively slow rate. The valve torque component signal is from... Figures 7A-7B The torque estimation box contains the Trq Est signal, which has an applied delay. This delay is calibrable to allow the Trq Est signal to be synchronized with the delayed steering wheel angle signal (e.g., this can minimize, reduce, or eliminate errors during rapid steering maneuvers).

[0059] It should be noted that the damping coefficient, steering wheel inertia, and friction magnitude scale values ​​can be implemented in various forms. They can be constant values ​​in the code, constant calibration values, or values ​​determined from a calibrable lookup table based on other signals (e.g., vehicle speed).

[0060] In some embodiments, the systems and methods described herein can be configured to provide means for calculating steering wheel grip detection signals. The systems and methods described herein can be configured to use a steering wheel angle signal received from a vehicle. The systems and methods described herein can be configured to calculate steering wheel speed and steering wheel acceleration signals based on the steering wheel angle signal. The systems and methods described herein can be configured to delay the steering wheel speed and steering wheel acceleration signals to synchronize them.

[0061] The systems and methods described herein can be configured to calculate steering wheel speed and acceleration signals for each execution of the steering wheel grip detection frame (e.g., even if the steering wheel angle signal is not updated). The systems and methods described herein can be configured to linearly modify the signals for time steps when the steering wheel angle signal is not updated. The systems and methods described herein can be configured to estimate operator torque using damping, inertia, and friction. The systems and methods described herein can be configured to use the delayed estimate of valve torque to synchronize the torque estimate with the delayed steering wheel generation signal. The systems and methods described herein can be configured to use filters to reduce the rate of change of the applied friction direction.

[0062] In some embodiments, the systems and methods described herein can be configured to receive steering wheel angle signals from sensors associated with the vehicle's steering wheel. The steering wheel is associated with the vehicle's EPS steering system, SbW steering system, hydraulic steering system (e.g., including a magnetic actuator in a valve assembly incorporated into the hydraulic steering system), or other suitable steering system.

[0063] The system and method described herein can be configured to generate a steering wheel speed signal and a steering wheel acceleration signal based on a steering wheel angle indicated by a steering wheel angle signal. The system and method described herein can be configured to synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal. The system and method described herein can be configured to delay the steering wheel angle signal, at least based on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal.

[0064] For example, the systems and methods described herein can be configured to calculate a damping value by determining the product of a steering wheel speed value indicated by a delayed steering wheel speed signal and a damping coefficient scale value. The systems and methods described herein can be configured to calculate an inertia value by determining the product of a steering wheel acceleration value indicated by a delayed steering wheel acceleration signal and a steering wheel inertia scale value. The systems and methods described herein can be configured to calculate a friction value by determining the product of a friction direction signal and a friction magnitude scale value. The systems and methods described herein can be configured to generate a delayed valve torque signal by delaying a received valve torque signal. The systems and methods described herein can be configured to generate an operator torque estimation signal based on the damping value, inertia value, friction value, and the delayed valve torque signal. The systems and methods described herein can be configured to determine whether the vehicle operator's hands are on the steering wheel based on the operator torque estimation signal.

[0065] In some embodiments, the mass of the steering wheel and / or the mass of the vehicle's airbags may be significantly offset from the centerline of the steering column, generating torque on the steering axis that depends on the angular position of the steering wheel. Ignoring this additional torque can lead to one or more errors in detecting whether the operator's hands are on the steering wheel.

[0066] Accordingly, in some embodiments, the systems and methods described herein can be configured to provide steering wheel grip detection while taking into account the mass of the steering wheel and / or the mass of one or more airbags in the vehicle (e.g., airbags associated with the steering wheel or other aspects of the steering system). For example, the systems and methods described herein can be configured to use a delayed steering wheel angle signal to correct for offset mass on the steering wheel when estimating operator torque for use in steering wheel grip detection.

[0067] Figure 13A general illustration shows a hand-grip steering wheel detection frame using a steering wheel angle with offset quality correction. The systems and methods described herein can be configured to delay the steering wheel angle signal to calculate and synchronize steering wheel speed and acceleration signals (e.g., considering dynamic torque values), as described herein. The systems and methods described herein can be configured to use the delayed steering wheel angle signal to correct for offset quality. The systems and methods described herein can be configured to add a phase value to the delayed steering wheel angle signal. The systems and methods described herein can be configured to convert the sum of the delayed steering wheel angle and the phase value into radians.

[0068] The systems and methods described herein can be configured to calculate a sine function value of the transformed angle. The systems and methods described herein can be configured to multiply the sine function value of the transformed angle by a calibrable value of the offset mass magnitude. The systems and methods described herein can be configured to add the product of the sine function value of the transformed angle and the calibrable value of the offset mass magnitude to the sum of the dynamic torques described herein (e.g., which may include an operator torque estimation signal or other suitable signal).

[0069] It should be understood that although this document describes the use of a sine function to correct quality, the systems and methods described herein can be configured to correct quality using any suitable technique (including, but not limited to, lookup tables based on delayed steering wheel angle signals, sine functions, and both) and / or other suitable techniques.

[0070] In some embodiments, the systems and methods described herein can be configured to receive steering wheel angle signals from sensors associated with the vehicle's steering wheel. The systems and methods described herein can be configured to generate steering wheel speed signals and steering wheel acceleration signals based on the steering wheel angle indicated by the steering wheel angle signals.

[0071] The systems and methods described herein can be configured to synchronize steering wheel speed signals and steering wheel acceleration signals by generating delayed steering wheel speed signals and delayed steering wheel acceleration signals. The systems and methods described herein can be configured to delay a steering wheel angle signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal. The systems and methods described herein can be configured to calculate the sum of the delayed steering wheel angle signal and the phase value.

[0072] The systems and methods described herein can be configured to convert the sum of a delayed steering wheel angle signal and a phase value into radians. The systems and methods described herein can be configured to determine an offset correction value by calculating a sine function value of the converted sum of the delayed steering wheel angle signal and phase values. The systems and methods described herein can be configured to calculate the product of the offset correction value and a calibrable value of the offset mass magnitude. The systems and methods described herein can be configured to adjust an operator torque estimation signal using the product of the offset correction value and the calibrable value of the offset mass magnitude. The systems and methods described herein can be configured to determine whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0073] Figure 1 Vehicle 10, generally illustrated according to the principles of this disclosure, is shown. Vehicle 10 may include any suitable vehicle, such as a car, truck, SUV, minivan, crossover, any other passenger vehicle, any suitable commercial vehicle, or any other suitable vehicle. Although vehicle 10 is illustrated as a passenger vehicle with wheels and used on a road, the principles of this disclosure can be applied to other means of transportation, such as airplanes, ships, trains, drones, or other suitable vehicles.

[0074] Vehicle 10 includes a body 12 and an engine hood 14. A passenger compartment 18 is defined at least partially by the body 12. Another portion of the body 12 defines an engine compartment 20. The engine hood 14 may be movably attached to a portion of the body 12 such that when the engine hood 14 is in a first position or an open position, the engine hood 14 provides access to the engine compartment 20, and when the engine hood 14 is in a second position or a closed position, the engine hood 14 covers the engine compartment 20. In some embodiments, the engine compartment 20 may be located at the rear of vehicle 10, rather than as typically shown.

[0075] The passenger compartment 18 may be located behind the engine compartment 20, but in embodiments where the engine compartment 20 is located at the rear of the vehicle 10, the passenger compartment 18 may be located in front of the engine compartment 20. The vehicle 10 may include any suitable propulsion system, including an internal combustion engine, one or more electric motors (e.g., an electric vehicle), one or more fuel cells, a hybrid propulsion system including a combination of an internal combustion engine and one or more electric motors (e.g., a hybrid vehicle), and / or any other suitable propulsion system.

[0076] In some embodiments, vehicle 10 may include a gasoline engine or a gasoline-fueled engine, such as a spark-ignition engine. In some embodiments, vehicle 10 may include a diesel-fueled engine, such as a compression-ignition engine. Engine compartment 20 houses and / or surrounds at least some components of the propulsion system of vehicle 10. Additionally or optionally, propulsion control devices (e.g., accelerator actuators, brake actuators, steering wheel, and other such components) are arranged in passenger compartment 18 of vehicle 10. The propulsion control devices may be actuated or controlled by the operator of vehicle 10 and may be directly connected to corresponding components of the propulsion system, such as throttle, brakes, axles, vehicle transmission, etc. In some embodiments, the propulsion control devices may transmit signals to a vehicle computer (e.g., a drive-by-wire vehicle computer), which in turn may control the corresponding propulsion components of the propulsion system. Thus, in some embodiments, vehicle 10 may be an autonomous vehicle.

[0077] In some embodiments, vehicle 10 includes a transmission communicated with a crankshaft via a flywheel, clutch, or hydraulic coupling. In some embodiments, the transmission includes a manual transmission. In some embodiments, the transmission includes an automatic transmission. Vehicle 10 may include one or more pistons that, in the case of an internal combustion engine or hybrid vehicle, operate in conjunction with the crankshaft to generate force that is transmitted through the transmission to one or more shafts, causing wheels 22 to rotate. When vehicle 10 includes one or more electric motors, a vehicle battery and / or fuel cell provides energy to the electric motors to rotate the wheels 22.

[0078] Vehicle 10 may include an automated vehicle propulsion system, such as cruise control, adaptive cruise control, automatic braking control, other automated vehicle propulsion systems, or combinations thereof. Vehicle 10 may be an automated or semi-automated vehicle, or other suitable type of vehicle. Vehicle 10 may include additional or fewer features compared to those generally shown and / or disclosed herein.

[0079] In some embodiments, vehicle 10 may include an Ethernet component 24, a controller area network (CAN) bus 26, a media-oriented system transport component (MOST) 28, a FlexRay component 30 (e.g., a brake-by-wire system), and a local interconnect component (LIN) 32. Vehicle 10 may use the CAN bus 26, MOST 28, FlexRay component 30, LIN 32, other suitable network or communication systems, or combinations thereof, to transmit various information from sensors, such as those inside or outside the vehicle, to various processors or controllers, such as those inside or outside the vehicle. Vehicle 10 may include additional or fewer features compared to those generally shown and / or disclosed herein.

[0080] In some embodiments, vehicle 10 may include a steering system such as an EPS system, a steer-by-wire system (e.g., which may include or communicate with one or more controllers that control components of the steering system without requiring a mechanical connection between the steering wheel of vehicle 10 and the wheels 22), a hydraulic steering system (e.g., which may include a magnetic actuator incorporated into a valve assembly of a hydraulic steering system), or other suitable steering systems.

[0081] A steering system may include an open-loop feedback control system or mechanism, a closed-loop feedback control system or mechanism, or a combination thereof. The steering system may be configured to receive various inputs, including but not limited to steering wheel position, input torque, one or more wheel positions, other suitable inputs or information, or combinations thereof.

[0082] Additionally or alternatively, inputs may include steering wheel torque, steering wheel angle, motor speed, vehicle speed, estimated motor torque command, other suitable inputs, or combinations thereof. The steering system may be configured to provide steering functionality and / or control to the vehicle 10. For example, the steering system may generate auxiliary torque based on various inputs. The steering system may be configured to selectively control the motor of the steering system using the auxiliary torque to provide steering assistance to the operator of the vehicle 10.

[0083] In some embodiments, vehicle 10 may include a controller, for example Figure 2 The controller 100 is generally shown in the diagram. Controller 100 may include any suitable controller, such as an electronic control unit or other suitable controller. For example, controller 100 may be configured to control various functions of the steering system and / or various functions of the vehicle 10. Controller 100 may include processor 102 and memory 104. Processor 102 may include any suitable processor, such as those described herein. Additionally or alternatively, controller 100 may include any suitable number of processors in addition to or excluding processor 102. Memory 104 may include a single disk or multiple disks (e.g., a hard disk drive) and includes a storage management module that manages one or more partitions within memory 104. In some embodiments, memory 104 may include flash memory, semiconductor (solid-state) memory, etc. Memory 104 may include random access memory (RAM), read-only memory (ROM), or a combination thereof. Memory 104 may include instructions that, when executed by processor 102, cause processor 102 to control at least various aspects of vehicle 10.

[0084] The controller 100 may receive one or more signals from various measuring devices or sensors 106, which indicate sensed or measured characteristics of the vehicle 10. Sensors 106 may include any suitable sensors, measuring devices, and / or other suitable mechanisms. For example, sensors 106 may include one or more torque sensors or devices, one or more steering wheel position sensors or devices, one or more motor position sensors or devices, one or more position sensors or devices, other suitable sensors or devices, or combinations thereof. One or more signals may indicate steering wheel torque, steering wheel angle, motor speed, vehicle speed, other suitable information, or combinations thereof.

[0085] In some embodiments, controller 100 may be configured to provide hand grip detection on the steering wheel. For example, controller 100 may receive steering wheel angle signals from one or more sensors 106 (e.g., steering wheel position sensor 106 or other suitable sensors 106 or other suitable sensors) and / or receive steering wheel angle signals associated with one or more sensors 106 associated with the steering wheel and / or joystick of vehicle 10. Controller 100 may generate steering wheel speed signals and steering wheel acceleration signals based on the steering wheel angle indicated by the steering wheel angle signals.

[0086] The controller 100 can synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal. The controller 100 can delay the steering wheel angle signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal.

[0087] In some embodiments, the controller 100 may receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel. The controller 100 may generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal.

[0088] The controller 100 can synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal. The controller 100 can generate an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal. The controller 100 can calculate the sum of the delayed steering wheel angle signal and the phase value.

[0089] Controller 100 can convert the sum of the delayed steering wheel angle signal and phase value into radians. Controller 100 can determine the offset correction value by calculating the sine function value of the converted sum of the delayed steering wheel angle signal and phase value. Controller 100 can calculate the product of the offset correction value and a calibrable value for the offset mass.

[0090] In some embodiments, the controller 100 can calculate the damping value by determining the product of the steering wheel speed value indicated by the delayed steering wheel speed signal and the damping coefficient scale value.

[0091] The controller 100 can calculate the inertia value by determining the product of the steering wheel acceleration value indicated by the delayed steering wheel acceleration signal and the steering wheel inertia scale value. The controller 100 can calculate the friction value by determining the product of the friction direction signal and the friction magnitude scale value. The controller 100 can generate a delayed valve torque signal by delaying the received valve torque signal.

[0092] The controller 100 can generate an operator torque estimation signal based on the valve torque signal, which includes damping value, inertia value, friction value, and delay. The controller 100 can then determine whether the vehicle operator's hands are on the steering wheel based on the operator torque estimation signal.

[0093] The controller 100 can adjust the operator torque estimation signal using the product of the offset correction value and a calibrable value of the offset mass magnitude. The controller 100 can then determine whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0094] In some embodiments, controller 100 may perform the methods described herein. However, the methods performed by controller 100 as described herein are not intended to be limiting, and any type of software executing on the controller or processor can perform the methods described herein without departing from the scope of this disclosure. For example, a controller (e.g., a processor executing software within a computing device) may perform the methods described herein.

[0095] Figure 12 This is a flowchart generally illustrating a method 300 for detecting hand grip on a steering wheel according to the principles of this disclosure. At 302, method 300 receives a steering wheel angle signal from a sensor associated with the steering wheel of the vehicle. For example, controller 100 may receive the steering wheel angle signal from sensor 106 associated with the steering wheel of vehicle 10.

[0096] At 304, method 300 generates a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal. For example, controller 100 can generate the steering wheel speed signal and the steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal.

[0097] At 306, method 300 synchronizes the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal. For example, controller 100 can synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal.

[0098] At 308, method 300 generates an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal. For example, controller 100 can generate the operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal.

[0099] At 310, method 300 determines whether the vehicle operator's hands are on the steering wheel based on the operator torque estimation signal. For example, controller 100 can determine whether the vehicle operator's hands are on the steering wheel based on the operator torque estimation signal.

[0100] Figure 14 A flowchart of an alternative hand-grip detection method 400 according to the principles of this disclosure is shown in general. At 402, method 400 receives a steering wheel angle signal from a sensor associated with the vehicle's steering wheel. For example, controller 100 may receive the steering wheel angle signal from sensor 106 associated with the steering wheel of vehicle 10.

[0101] At 404, method 400 generates a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal. For example, controller 100 can generate the steering wheel speed signal and steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal.

[0102] At 406, method 400 synchronizes the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal. For example, controller 100 can synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal.

[0103] At 408, method 400 delays the steering wheel angle signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal. For example, controller 100 may delay the steering wheel angle signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal.

[0104] At 410, method 400 calculates the sum of the delayed steering wheel angle signal and the phase value. For example, controller 100 can calculate the sum of the delayed steering wheel angle signal and the phase value.

[0105] At 412, method 400 converts the sum of the delayed steering wheel angle signal and phase value into radians. For example, controller 100 can convert the sum of the delayed steering wheel angle signal and phase value into radians.

[0106] At 414, method 400 determines the offset correction value by calculating the sine function value of the sum of the transitions of the delayed steering wheel angle signal and the phase value. For example, controller 100 can determine the offset correction value by calculating the sine function value of the sum of the transitions of the delayed steering wheel angle signal and the phase value.

[0107] At 416, method 400 calculates the product of the offset correction value and the calibrable value of the offset mass. For example, controller 100 can calculate the product of the offset correction value and the calibrable value of the offset mass.

[0108] At 418, method 400 uses the product of the offset correction value and a calibrable value of the offset mass magnitude to adjust the operator torque estimation signal. For example, controller 100 can use the product of the offset correction value and a calibrable value of the offset mass magnitude to adjust the operator torque estimation signal.

[0109] At 420, method 400 determines whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal. For example, controller 100 can determine whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0110] In some embodiments, a method for detecting hand grip on a steering wheel includes receiving a steering wheel angle signal from a sensor associated with the vehicle's steering wheel, and generating a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal. The method further includes synchronizing the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal. The method further includes generating an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal. The method further includes determining whether the vehicle operator's hands are on the steering wheel based on the operator torque estimation signal.

[0111] In some embodiments, the steering wheel is associated with an electric power steering system of the vehicle. In some embodiments, the steering wheel is associated with a hydraulic steering system of the vehicle. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated into a valve assembly of the hydraulic steering system. In some embodiments, generating an operator torque estimation signal based at least on a delayed steering wheel speed signal and a delayed steering wheel acceleration signal includes: calculating a damping value by determining the product of a steering wheel speed value indicated by the delayed steering wheel speed signal and a damping coefficient scale value; calculating an inertia value by determining the product of a steering wheel acceleration value indicated by the delayed steering wheel acceleration signal and a steering wheel inertia scale value; calculating a friction value by determining the product of a friction direction signal and a friction magnitude scale value; generating a delayed valve torque signal by delaying a received valve torque signal; and generating an operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed valve torque signal.

[0112] In some embodiments, a method for detecting hand grip on a steering wheel includes receiving a steering wheel angle signal from a sensor associated with the vehicle's steering wheel, and generating a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal. The method further includes synchronizing the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal, and generating an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal. The method also includes determining whether the vehicle operator's hands are on the steering wheel based on the operator torque estimation signal.

[0113] In some embodiments, the steering wheel is associated with an electric power steering system of the vehicle. In some embodiments, the steering wheel is associated with a hydraulic steering system of the vehicle. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated in a valve assembly of the hydraulic steering system. In some embodiments, the method further includes: calculating a damping value by determining the product of a steering wheel speed value indicated by a delayed steering wheel speed signal and a damping coefficient scale value; and calculating an inertia value by determining the product of a steering wheel acceleration value indicated by a delayed steering wheel acceleration signal and a steering wheel inertia scale value. In some embodiments, the method further includes: calculating a friction value by determining the product of a friction direction signal and a friction magnitude scale value; and generating a delayed valve torque signal by delaying a received valve torque signal. In some embodiments, generating an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal includes: generating the operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed received valve torque signal. In some embodiments, the sensor associated with the vehicle's steering wheel includes a steering wheel position sensor.

[0114] In some embodiments, a system for detecting hand grip on a steering wheel includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; generate an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; and determine, based on the operator torque estimation signal, whether the vehicle's operator's hands are on the steering wheel.

[0115] In some embodiments, the steering wheel is associated with an electric power steering system of the vehicle. In some embodiments, the steering wheel is associated with a hydraulic steering system of the vehicle. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated into a valve assembly of the hydraulic steering system. In some embodiments, the instructions further instruct the processor to: calculate a damping value by determining the product of a steering wheel speed value indicated by a delayed steering wheel speed signal and a damping coefficient scale value; and calculate an inertia value by determining the product of a steering wheel acceleration value indicated by a delayed steering wheel acceleration signal and a steering wheel inertia scale value. In some embodiments, the instructions further instruct the processor to: calculate a friction value by determining the product of a friction direction signal and a friction magnitude scale value; and generate a delayed valve torque signal by delaying a received valve torque signal. In some embodiments, the instructions further instruct the processor to: generate an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal by generating the operator torque estimation signal based on the damping value, inertia value, friction value, and the delayed received valve torque signal. In some embodiments, the sensor associated with the vehicle steering wheel includes a steering wheel position sensor.

[0116] In some embodiments, the apparatus for detecting hand grip on the steering wheel includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; calculate a damping value by determining the product of a steering wheel speed value indicated by the delayed steering wheel speed signal and a damping coefficient scale value; calculate an inertia value by determining the product of a steering wheel acceleration value indicated by the delayed steering wheel acceleration signal and a steering wheel inertia scale value; calculate a friction value by determining the product of a friction direction signal and a friction magnitude scale value; generate a delayed valve torque signal by delaying a received valve torque signal; generate an operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed received valve torque signal; and determine whether the vehicle operator's hands are on the steering wheel based on the operator torque estimation signal.

[0117] In some embodiments, the steering wheel is associated with the vehicle's electric power steering system. In some embodiments, the steering wheel is associated with the vehicle's hydraulic steering system. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated into a valve assembly of the hydraulic steering system.

[0118] In some embodiments, the hand-on-steering-wheel detection method includes receiving a steering wheel angle signal from a sensor associated with the vehicle's steering wheel, generating a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal, and synchronizing the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal. The method further includes generating an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal, calculating the sum of the delayed steering wheel angle signal and a phase value, converting the sum of the delayed steering wheel angle and phase values ​​into radians, and determining an offset correction value by calculating a sine function value of the converted sum of the delayed steering wheel angle signal and phase values. The method further includes calculating the product of the offset correction value and a caliable value of the offset mass, adjusting the operator torque estimation signal using the product of the offset correction value and the caliable value of the offset mass, and determining whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0119] In some embodiments, the steering wheel is associated with an electric power steering system of the vehicle. In some embodiments, the steering wheel is associated with a hydraulic steering system of the vehicle. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated in a valve assembly of the hydraulic steering system. In some embodiments, the method further includes calculating a damping value by determining the product of a steering wheel speed value indicated by a delayed steering wheel speed signal and a damping coefficient scale value, and calculating an inertia value by determining the product of a steering wheel acceleration value indicated by a delayed steering wheel acceleration signal and a steering wheel inertia scale value. In some embodiments, the method further includes calculating a friction value by determining the product of a friction direction signal and a friction magnitude scale value, and generating a delayed valve torque signal by delaying a received valve torque signal. In some embodiments, generating an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal includes generating the operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed received valve torque signal. In some embodiments, the sensor associated with the vehicle's steering wheel includes a steering wheel position sensor.

[0120] In some embodiments, the steering wheel hand-on detection system includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; generate an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; calculate the sum of the delayed steering wheel angle signal and a phase value; convert the sum of the delayed steering wheel angle and phase values ​​into radians; determine an offset correction value by calculating a sine function value of the converted sum of the delayed steering wheel angle signal and phase values; calculate the product of the offset correction value and a calibrable value of the offset mass; adjust the operator torque estimation signal using the product of the offset correction value and the calibrable value of the offset mass; and determine whether the vehicle's operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0121] In some embodiments, the steering wheel is associated with an electric power steering system of the vehicle. In some embodiments, the steering wheel is associated with a hydraulic steering system of the vehicle. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated in a valve assembly of the hydraulic steering system. In some embodiments, the instructions further instruct the processor to: calculate a damping value by determining the product of a steering wheel speed value indicated by a delayed steering wheel speed signal and a damping coefficient scale value; and calculate an inertia value by determining the product of a steering wheel acceleration value represented by a delayed steering wheel acceleration signal and a steering wheel inertia scale value. In some embodiments, the instructions further instruct the processor to: calculate a friction value by determining the product of a friction direction signal and a friction magnitude scale value; and generate a delayed valve torque signal by delaying a received valve torque signal. In some embodiments, the instructions further instruct the processor to generate an operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed valve torque signal. In some embodiments, the sensor associated with the vehicle's steering wheel includes a steering wheel position sensor.

[0122] In some embodiments, the apparatus for detecting hand grip on the steering wheel includes a processor and a memory. The memory includes instructions that, when executed by the processor, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; generate an operator torque estimation signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; determine an offset correction value by calculating a sine function value of the sum of the delayed steering wheel angle signal and a phase value; adjust the delayed steering wheel angle signal by adding the product of the offset correction value and a caliable value of the offset mass; and determine whether the vehicle's operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0123] In some embodiments, the steering wheel is associated with the vehicle's electric power steering system. In some embodiments, the steering wheel is associated with the vehicle's hydraulic steering system. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated into a valve assembly of the hydraulic steering system.

[0124] In some embodiments, the hand-on-steering-wheel detection method includes generating a steering wheel speed signal and a steering wheel acceleration signal based on a steering wheel angle signal indicated by a steering wheel angle signal associated with the vehicle's steering wheel; synchronizing the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; delaying the steering wheel angle signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; converting the sum of the delayed steering wheel angle signal and a phase value into radians; determining an offset correction value by calculating a sine function value of the converted sum of the delayed steering wheel angle signal and the phase value; calculating the product of the offset correction value and a caliable value of the offset mass; adjusting an operator torque estimation signal using the product of the offset correction value and the caliable value of the offset mass; and determining whether the vehicle's operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0125] In some embodiments, the steering wheel is associated with an electric power steering system of the vehicle. In some embodiments, the steering wheel is associated with a hydraulic steering system of the vehicle. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated in a valve assembly of the hydraulic steering system. In some embodiments, the method further includes calculating a damping value by determining the product of a steering wheel speed value indicated by a delayed steering wheel speed signal and a damping coefficient scale value, and calculating an inertia value by determining the product of a steering wheel acceleration value indicated by a delayed steering wheel acceleration signal and a steering wheel inertia scale value. In some embodiments, the method further includes calculating a friction value by determining the product of a friction direction signal and a friction magnitude scale value, and generating a delayed valve torque signal by delaying a received valve torque signal. In some embodiments, the method further includes generating an operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed valve torque signal. In some embodiments, the method further includes: receiving a steering wheel angle signal from a sensor associated with the vehicle's steering wheel, wherein the sensor associated with the vehicle's steering wheel includes a steering wheel position sensor; and calculating the delayed steering wheel angle signal and the sum of the phase values ​​before converting the delayed steering wheel angle signal and the sum of the phase values ​​into radians.

[0126] In some embodiments, the steering wheel hand grip detection system includes a processor and a memory containing instructions that, when executed, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; delay the steering wheel angle signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; calculate the sum of the delayed steering wheel angle signal and a phase value; convert the sum of the delayed steering wheel angle signal and the phase value into radians; determine an offset correction value by calculating a sine function value of the converted sum of the delayed steering wheel angle signal and the phase value; calculate the product of the offset correction value and a calibrable value of the offset mass; adjust the operator torque estimation signal using the product of the offset correction value and the calibrable value of the offset mass; and determine whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0127] In some embodiments, the steering wheel is associated with an electric power steering system of the vehicle. In some embodiments, the steering wheel is associated with a hydraulic steering system of the vehicle. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated in a valve assembly of the hydraulic steering system. In some embodiments, the instructions further cause the processor to: calculate a damping value by determining the product of a steering wheel speed value indicated by a delayed steering wheel speed signal and a damping coefficient scale value; and calculate an inertia value by determining the product of a steering wheel acceleration value represented by a delayed steering wheel acceleration signal and a steering wheel inertia scale value. In some embodiments, the instructions further cause the processor to: calculate a friction value by determining the product of a friction direction signal and a friction magnitude scale value; and generate a delayed valve torque signal by delaying a received valve torque signal. In some embodiments, the instructions further cause the processor to generate an operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed valve torque signal. In some embodiments, the sensor associated with the vehicle's steering wheel includes a steering wheel position sensor.

[0128] In some embodiments, the steering wheel hand grip detection device includes a processor and a memory containing instructions that, when executed, cause the processor to: receive a steering wheel angle signal from a sensor associated with the vehicle's steering wheel; generate a steering wheel speed signal and a steering wheel acceleration signal based on the steering wheel angle indicated by the steering wheel angle signal; synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; delay the steering wheel angle signal based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; determine an offset correction value by calculating a sine function value of the sum of the delayed steering wheel angle signal and a phase value; adjust an operator torque estimation signal by adding the product of the offset correction value and a calibrable value of the offset mass; and determine whether the vehicle operator's hands are on the steering wheel based on the adjusted operator torque estimation signal.

[0129] In some embodiments, the steering wheel is associated with the vehicle's electric power steering system. In some embodiments, the steering wheel is associated with the vehicle's hydraulic steering system. In some embodiments, the hydraulic steering system includes a magnetic actuator incorporated into a valve assembly of the hydraulic steering system.

[0130] The foregoing discussion is intended to illustrate the principles of the invention and various embodiments. Once the foregoing disclosure is fully understood, many variations and modifications will become apparent to those skilled in the art.

[0131] The word “example” is used herein to mean used as an example, illustration, or illustration. Any aspect or design described herein as an “example” is not necessarily to be construed as being more preferred or advantageous than other aspects or designs. Rather, the use of the word “example” is intended to present a concept in a specific form. As used in this application, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise stated or clearly apparent from the context, “X includes A or B” is intended to mean any ordinary inclusion arrangement. That is, if X includes A; X includes B; or X includes both A and B, then “X includes A or B” is satisfied in any of the foregoing cases. Additionally, the article “a / an” as used in this application should generally be interpreted as meaning “one or more” unless otherwise stated or clearly apparent from the context to the singular form. Furthermore, unless so described, the use of the terms “implementation” or “an implementation” throughout the document is not intended to refer to the same embodiment or implementation.

[0132] The systems, algorithms, methods, and instructions described herein can be implemented in hardware, software, or any combination thereof. Hardware may include, for example, a computer, intellectual property (IP) core, application-specific integrated circuit (ASIC), programmable logic array, optical processor, programmable logic controller, microcode, microcontroller, server, microprocessor, digital signal processor, or any other suitable circuit. The term "processor" should be understood to include any of the foregoing hardware, alone or in combination. The terms "signal" and "data" are used interchangeably.

[0133] As used herein, the term "module" can include packaged functional hardware units designed for use with other components, instruction sets executable by a controller (e.g., a processor executing software or firmware), processing circuitry configured to perform specific functions, and self-contained hardware or software components that interface with a larger system. For example, a module can include application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), circuits, digital logic circuits, analog circuits, combinations of discrete circuits, gate circuits, and other types of hardware or combinations thereof. In other embodiments, a module can include memory storing instructions executable by a controller to implement the functionality of the module.

[0134] Furthermore, in one respect, for example, the system described herein can be implemented using a general-purpose computer or general-purpose processor with a computer program that, when executed, performs any of the corresponding methods, algorithms, and / or instructions described herein. Additionally or alternatively, for example, a special-purpose computer / processor may be utilized, which may contain additional hardware for performing any of the methods, algorithms, or instructions described herein.

[0135] Furthermore, all or part of the embodiments of this disclosure may take the form of a computer program product accessible from, for example, a computer-usable or computer-readable medium. A computer-usable or computer-readable medium may be, for example, any device that can tangibly contain, store, communicate, or transmit a program for use by or in connection with any processor. The medium may be, for example, an electrical, magnetic, optical, electromagnetic, or semiconductor device. Other suitable media may also be used.

[0136] The embodiments, implementations, and aspects described above are intended to allow for an easy understanding of the invention and do not limit the invention. Rather, the invention is intended to cover various modifications and equivalent arrangements, and this scope should be given the broadest interpretation to cover all such modifications and equivalent structures permitted by law.

Claims

1. A method for detecting hand grip on a steering wheel, the method comprising: Based on the steering wheel angle indicated by the steering wheel angle signal associated with the vehicle's steering wheel, a steering wheel speed signal and a steering wheel acceleration signal are generated; Synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; The steering wheel angle signal is delayed based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; The sum of the delayed steering wheel angle signal and phase value is converted into radians; Calculate the product of the sine function value of the radian and the calibrable value of the offset mass; The product of the sine function value of the radian and the calibrable value of the offset mass is added to the operator torque estimation signal to adjust the operator torque estimation signal; as well as Based on the adjusted operator torque estimation signal, it is determined whether the operator's hands are on the steering wheel.

2. The method according to claim 1, wherein, The steering wheel is associated with the vehicle's electric power steering system.

3. The method according to claim 1, wherein, The steering wheel is associated with the vehicle's hydraulic steering system.

4. The method according to claim 3, wherein, The hydraulic steering system includes a magnetic actuator incorporated into the valve assembly of the hydraulic steering system.

5. The method according to claim 1, further comprising: The damping value is calculated by determining the product of the steering wheel speed value indicated by the delayed steering wheel speed signal and the damping coefficient scale value; as well as The inertia value is calculated by determining the product of the steering wheel acceleration value indicated by the delayed steering wheel acceleration signal and the steering wheel inertia scale value.

6. The method according to claim 5, further comprising: The friction value is calculated by multiplying the friction direction signal by the friction magnitude scale value. as well as A delayed valve torque signal is generated by delaying the received valve torque signal.

7. The method of claim 6, further comprising generating the operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed valve torque signal.

8. The method according to claim 1, further comprising: The steering wheel angle signal is received from a sensor associated with the steering wheel of the vehicle, wherein the sensor associated with the steering wheel of the vehicle includes a steering wheel position sensor; as well as The sum of the delayed steering wheel angle signal and the phase value is calculated before converting the sum of the delayed steering wheel angle signal and the phase value into radians.

9. A system for detecting hand grip on a steering wheel, the system comprising: processor; and The memory includes instructions, which, when the processor executes the instructions, cause the processor to: Receive steering wheel angle signals from sensors associated with the vehicle's steering wheel; Based on the steering wheel angle indicated by the steering wheel angle signal, a steering wheel speed signal and a steering wheel acceleration signal are generated; Synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; The steering wheel angle signal is delayed based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; Calculate the sum of the delayed steering wheel angle signal and the phase value; The sum of the delayed steering wheel angle signal and phase value is converted into radians; Calculate the product of the sine function value of the radian and the calibrable value of the offset mass; The product of the sine function value of the radian and the calibrable value of the offset mass is added to the operator torque estimation signal to adjust the operator torque estimation signal; as well as Based on the adjusted operator torque estimation signal, it is determined whether the operator's hands are on the steering wheel.

10. The system according to claim 9, wherein, The steering wheel is associated with the vehicle's electric power steering system.

11. The system according to claim 9, wherein, The steering wheel is associated with the vehicle's hydraulic steering system.

12. The system according to claim 11, wherein, The hydraulic steering system includes a magnetic actuator incorporated into the valve assembly of the hydraulic steering system.

13. The system according to claim 9, wherein, The instruction also causes the processor to: The damping value is calculated by determining the product of the steering wheel speed value indicated by the delayed steering wheel speed signal and the damping coefficient scale value; and The inertia value is calculated by determining the product of the steering wheel acceleration value indicated by the delayed steering wheel acceleration signal and the steering wheel inertia scale value.

14. The system according to claim 13, wherein, The instruction also causes the processor to: The friction value is calculated by multiplying the friction direction signal by the friction magnitude scale value; and A delayed valve torque signal is generated by delaying the received valve torque signal.

15. The system of claim 14, wherein the instructions further cause the processor to generate the operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed valve torque signal.

16. The system according to claim 9, wherein, The sensors associated with the vehicle's steering wheel include a steering wheel position sensor.

17. A device for detecting hand grip on a steering wheel, the device comprising: processor; as well as The memory includes instructions, which, when the processor executes the instructions, cause the processor to: Receive steering wheel angle signals from sensors associated with the vehicle's steering wheel; Based on the steering wheel angle indicated by the steering wheel angle signal, a steering wheel speed signal and a steering wheel acceleration signal are generated; Synchronize the steering wheel speed signal and the steering wheel acceleration signal by generating a delayed steering wheel speed signal and a delayed steering wheel acceleration signal; The steering wheel angle signal is delayed based at least on the delayed steering wheel speed signal and the delayed steering wheel acceleration signal; The sum of the delayed steering wheel angle signal and phase value is converted into radians; The product of the sine function value of the radian and the calibrable value of the offset mass is added to the operator torque estimation signal to adjust the operator torque estimation signal; as well as Based on the adjusted operator torque estimation signal, it is determined whether the operator's hands are on the steering wheel.

18. The apparatus according to claim 17, wherein, The steering wheel is associated with the vehicle's electric power steering system.

19. The apparatus according to claim 17, wherein, The steering wheel is associated with the vehicle's hydraulic steering system.

20. The apparatus according to claim 19, wherein, The hydraulic steering system includes a magnetic actuator incorporated into the valve assembly of the hydraulic steering system.

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