Steering wheel hands-off detection method, vehicle and storage medium

Abstract

The present application provides a method for detecting a hands-off state of a steering wheel, a vehicle and a storage medium. The method is applied to a vehicle and includes: receiving an input signal within a preset time period; wherein the input signal includes a hand force signal, a hand force duration, a steering assist signal and an active return state signal; determining a sensitivity level of the steering wheel according to the hand force signal and the steering assist signal; determining a hand force threshold and a hand force duration threshold according to the hand force signal, the hand force duration and the sensitivity level; judging whether the steering wheel is in a hands-off state according to the hand force threshold, the hand force duration threshold and the active return state signal. Through the scheme of the present application, the problem of misjudgment caused by the mismatch between the hand force applied to the steering wheel by the driver when using the steering system and the preset hands-off judgment hand force threshold can be avoided, thereby improving the comfort and safety of vehicle driving and making the vehicle steering system more adaptable.

Description

Technical Field

[0001] The present application relates to the field of automobile intelligent control technology, and more specifically to a steering wheel hands-off detection method, a vehicle and a storage medium. Background Art

[0002] With the development of the automobile industry, intelligent and complex automotive electrical systems such as Advanced Driving Assistance Systems (ADAS) have become popular, and users' demand for advanced driving assistance systems with rich configurations is also increasing. Advanced driving assistance functions help reduce the driver's burden in simple and boring driving conditions such as long traffic jams and high-speed driving to ensure driving comfort and safety. Based on the reliability and functionality of advanced driving assistance functions, a hands-off detection (HOD Hands off detection) function that matches the advanced driving assistance function has also been developed. However, due to individual differences and habit differences among drivers, the hand force characteristics and sensitivity of each driver applied to the steering system to achieve specific actions are different, which often leads to the problem of misjudgment due to the mismatch between the driver's hand force and the preset hands-off judgment hand force threshold. Summary of the invention

[0003] The present application is proposed to solve the above problems. According to one aspect of the present application, a method for detecting hands-off steering wheel is provided, which is applied to a vehicle, and the method comprises:

[0004] Receive input signals within a preset time period; wherein the input signals include a hand force signal, a hand force duration, a steering assist signal, and an active return state signal;

[0005] determining a sensitivity level of a steering wheel according to the hand force signal and the steering assist signal;

[0006] Determining a hand force threshold and a hand force duration threshold according to the hand force signal, the hand force duration and the sensitivity level;

[0007] Whether the steering wheel is in a hands-off state is determined according to the hand force threshold, the hand force duration threshold and the active return state signal.

[0008] In one embodiment of the present application, determining the sensitivity level of the steering wheel according to the hand force signal and the steering assist signal includes:

[0009] Calculating a hand force value and a hand force change rate according to the hand force signal and the steering assist signal within the preset time period;

[0010] The sensitivity level of the steering wheel is determined according to the sensitivity levels corresponding to the hand force value and the hand force change rate in an advance table stored in an electronic control unit.

[0011] In one embodiment of the present application, judging whether the steering wheel is in a hands-off state according to the hand force threshold, the hand force duration threshold and the active return state includes:

[0012] When the hand force value is greater than or equal to the hand force threshold and the hand force duration is greater than or equal to the hand force duration threshold, determining that the steering wheel is not in the hands-off state; or

[0013] When the hand force value is less than the hand force threshold, or the hand force duration is less than the hand force duration threshold, and the steering wheel is not in the active return state, it is determined that the steering wheel is in the hands-off state, wherein the active return state is determined based on the active return state signal.

[0014] In one embodiment of the present application, after receiving an input signal within a preset time period, the method further includes:

[0015] It is determined that the vehicle is in a remote control driving state.

[0016] In one embodiment of the present application, determining that the vehicle is in a remote control driving state includes:

[0017] Receiving a command to start remote control driving;

[0018] Determine whether the angle sensor is turned on;

[0019] When the angle sensor is turned on, it is determined that the vehicle has entered a remote control driving state.

[0020] In one embodiment of the present application, after determining that the vehicle is in a remote control driving state, the method further includes:

[0021] When it is determined that the driver has an intention to intervene in driving, determining whether the hand force duration is greater than or equal to the hand force duration threshold;

[0022] When the hand force duration is greater than or equal to the hand force duration threshold, it is determined that the vehicle is in a driver intervention driving state.

[0023] In one embodiment of the present application, after determining that the driver is in an intervention driving state, the method further includes:

[0024] Determining whether the angle sensor is turned on;

[0025] When the angle sensor is turned on, the vehicle is in a driver intervention driving state;

[0026] When the angle sensor is turned off, the process returns to the step of determining that the vehicle is in a remote control driving state.

[0027] In one embodiment of the present application, the method further includes: determining that the driver has an intention to intervene in driving;

[0028] Among them, determining whether the driver intends to intervene in driving includes:

[0029] Determine whether the hand force value is greater than or equal to the hand force threshold, and whether the hand force duration is greater than or equal to the hand force duration threshold;

[0030] When the hand force value is greater than or equal to the hand force threshold, and the hand force duration is less than the hand force duration threshold, determining that the vehicle is in a first intervention pending state;

[0031] When the vehicle is in the first intervention pending state, determining whether the hand force value becomes less than the hand force threshold, and whether the hand force duration is greater than or equal to the hand force duration threshold;

[0032] When the hand force value becomes smaller than the hand force threshold, and the hand force duration is smaller than the hand force duration threshold, it is determined that the vehicle is in a second intervention pending state.

[0033] In one embodiment of the present application, after receiving a command to start remote control driving, the method further includes:

[0034] Determining a scene in which the vehicle is located;

[0035] According to the type of the scene, an angle adjustment speed of the steering wheel corresponding to the type of the scene is determined.

[0036] In one embodiment of the present application, after receiving an input signal within a preset time period, the method further includes:

[0037] Determining whether the input signal is abnormal;

[0038] When there is no abnormality in the input signal, it is determined that the vehicle is in a normal driving state.

[0039] According to another aspect of the present application, a vehicle is provided, the vehicle comprising:

[0040] A memory and a processor, wherein the memory stores a computer program executed by the processor, and when the computer program is executed by the processor, the processor executes the aforementioned steering wheel hands-off detection method.

[0041] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the processor executes the above-mentioned steering wheel hands-off detection method.

[0042] According to the steering wheel hands-off detection method, vehicle and storage medium of the present application, the present application determines the sensitivity level of the steering wheel, as well as the hand force threshold and the hand force duration threshold based on the hand force signal and the steering assist signal, and then judges whether the steering wheel is in a hands-off state based on the hand force threshold, the hand force duration threshold and the active return state. In this way, under actual driving conditions, the problem of misjudgment caused by the mismatch between the hand force applied to the steering wheel by the driver when using the steering system and the preset hands-off judgment hand force threshold is avoided, thereby improving the comfort and safety of vehicle driving and making the vehicle steering system more widely adaptable. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] By describing the embodiments of the present application in more detail in conjunction with the accompanying drawings, the above and other purposes, features and advantages of the present application will become more apparent. The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0044] Figure 1 A schematic flow chart of a method for detecting a hands-off steering wheel according to an embodiment of the present application is shown;

[0045] Figure 2 A schematic diagram showing an example of the sensitivity of a steering wheel according to an embodiment of the present application;

[0046] Figure 3 A schematic diagram showing a process of determining a hands-off state of the steering wheel according to an embodiment of the present application is shown;

[0047] Figure 4 A schematic diagram showing a high-level function execution process according to an embodiment of the present application is shown;

[0048] Figure 5 A schematic block diagram of an EPS system according to an embodiment of the present application is shown;

[0049] Figure 6 A schematic diagram showing a hands-off detection function and an advanced function execution process according to an embodiment of the present application;

[0050] Figure 7 A schematic block diagram of a vehicle according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present application more obvious, the example embodiments according to the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application, and it should be understood that the present application is not limited to the example embodiments described herein. Based on the embodiments of the present application described in the present application, all other embodiments obtained by those skilled in the art without creative work should fall within the scope of protection of the present application.

[0052] Because some drivers may be inattentive or look at their phones during daily driving or when the assisted driving function is turned on, and other behaviors that seriously affect driving safety, the vehicle's hands-off detection function is designed to detect whether the driver's hands are off the steering wheel during driving, and provide corresponding reminders and alarms to the driver when it detects that the driver's hands are off the steering wheel. In serious cases, it can even cooperate with other advanced functions to slow down or stop the vehicle.

[0053] Based on the above technical problems, the present application provides a method for detecting a hands-off state of a steering wheel, which is applied to a vehicle, and the method comprises: receiving an input signal within a preset time period; wherein the input signal comprises a hand force signal, a hand force duration, a steering assist signal and an active return state signal; determining the sensitivity level of the steering wheel according to the hand force signal and the steering assist signal; determining a hand force threshold and a hand force duration threshold according to the hand force signal, the hand force duration and the sensitivity level; judging whether the steering wheel is in a hands-off state according to the hand force threshold, the hand force duration threshold and the active return state signal. The present application determines the sensitivity level of the steering wheel, as well as the hand force threshold and the hand force duration threshold according to the hand force signal and the steering assist signal, and then judges whether the steering wheel is in a hands-off state according to the hand force threshold, the hand force duration threshold and the active return state, so that under actual driving conditions, the problem of misjudgment caused by the mismatch between the hand force applied to the steering wheel by the driver when using the steering system and the preset hands-off judgment threshold is avoided, thereby improving the comfort and safety of vehicle driving, and making the vehicle steering system more adaptable.

[0054] The present application provides a steering wheel hands-off detection method, vehicle and medium with sensitivity adjustment and advanced functions. An electric power steering (EPS) system and vehicle with a steering wheel hands-off detection function can prevent the safety of the vehicle and the person from being endangered due to the driver's inattention and losing control of the steering wheel. The steering wheel hands-off detection method uses the TAS sensor signal in the steering system and the electronic control unit (ECU) signal reflecting the vehicle state as the input of the control algorithm, and after processing, outputs a signal to judge the driver's hands-off state, a sensitivity signal to improve the driver's adaptability, and an EPS advanced function state signal involving angle control. In the control algorithm of the steering wheel hands-off detection method of the present application, it can be roughly divided into a sensitivity adaptation module for analyzing and processing hand force signals, a hands-off judgment module for judging the state of holding the steering wheel and the active return state, a signal validity judgment module, and an EPS advanced function execution module involving remote control driving and automatic assisted parking, which requires multi-sensor signals to be processed by the ECU fusion and then output the corresponding angle command to achieve the purpose of controlling the vehicle's steering and driving.

[0055] The following is a detailed description of the method for detecting the hands-off steering wheel according to the embodiment of the present application in conjunction with the accompanying drawings. The features of the various embodiments of the present application can be combined with each other without conflict.

[0056] Figure 1 A schematic flow chart of a method for detecting a hands-off steering wheel according to an embodiment of the present application is shown; Figure 1 As shown, the steering wheel hands-off detection method 100 according to the embodiment of the present application may include the following steps S101 and S102:

[0057] In step S101, input signals within a preset time period are received; wherein the input signals include a hand force signal, a hand force duration, a steering assist signal, and an active return state signal.

[0058] In an embodiment of the present application, first, the electric power steering system (EPS) needs to record in real time the hand force signal, hand force duration, steering assist signal and active return status signal within a short period of time. By analyzing these data, the current hand force change rate, hand force extreme value, hand force assist ratio and other parameters can be obtained to analyze the driver's operating habits.

[0059] In step S102, the sensitivity level of the steering wheel is determined according to the hand force signal and the steering assist signal.

[0060] In one embodiment of the present application, step S102 includes: A1, calculating the hand force value and the hand force change rate based on the hand force signal and the steering assist signal within the preset time period; A2, determining the sensitivity level of the steering wheel based on the sensitivity level corresponding to the hand force value and the hand force change rate in the advance table stored in the electronic control unit.

[0061] For example, the sensitivity level may include high, medium, and low levels according to whether the driver's style is aggressive, normal, or gentle, etc. The sensitivity may also be divided into four levels: extremely high, high, medium, and low according to whether the driver's style is very aggressive, aggressive, normal, or gentle, etc.

[0062] like Figure 2 As shown, when the driver's hand force is relatively small, the sensitivity corresponding to the hand force value and the hand force change rate in the advance table stored in the electronic control unit is the first sensitivity, and the value of the first sensitivity is relatively high. When the driver's hand force is relatively large, the sensitivity corresponding to the hand force value and the hand force change rate in the advance table stored in the electronic control unit is the second sensitivity, and the value of the second sensitivity is relatively low. In this way, the differentiated needs of drivers with different hand forces can be met. Even a driver who is driving a vehicle for the first time can quickly adjust to the sensitivity that adapts to the driver's hand force.

[0063] In step S103, a hand force threshold and a hand force duration threshold are determined according to the hand force signal, the hand force duration and the sensitivity level.

[0064] Specifically, the value corresponding to the sensitivity level can be multiplied by the preset hands-off judgment hand force threshold of the electric power steering system to determine the final hand force threshold and hand force duration threshold, so as to achieve the purpose of fine-tuning the hands-off judgment hand force threshold and hand force duration threshold according to different sensitivities.

[0065] In step S104, it is determined whether the steering wheel is in a hands-off state based on the hand force threshold, the hand force duration threshold and the active return state signal.

[0066] In one embodiment of the present application, whether the steering wheel is in a hands-off state is determined based on the hand force threshold, the hand force duration threshold and the active return state, including: B1, when the hand force value is greater than or equal to the hand force threshold and the hand force duration is greater than or equal to the hand force duration threshold, determining that the steering wheel is not in the hands-off state; or, B2, when the hand force value is less than the hand force threshold, or the hand force duration is less than the hand force duration threshold, and the steering wheel is not in the active return state, determining that the steering wheel is in the hands-off state, wherein the active return state is determined based on the active return state signal.

[0067] like Figure 3 As shown, the judgment process of the steering wheel's hands-off state is shown. First, the electric power steering system records the input signal in a short period of time, including hand force signal monitoring and steering power signal monitoring, hand force signal collection and active return state judgment. By analyzing the hand force and the hand force change rate, the steering sensitivity level matching the hand force can be obtained, and the hand force threshold and hand force duration threshold matching the sensitivity are calculated according to the sensitivity level. It is judged whether the hand force is continuously less than the hand force threshold, and whether the steering wheel is in the active return state. When the hand force is greater than or equal to the hand force threshold and the hand force duration is greater than or equal to the hand force duration threshold, the steering wheel is not in the hands-off state. When the hand force is less than the hand force threshold or the hand force duration is less than the hand force duration threshold, and the steering wheel is not in the active return state, the steering wheel is in the hands-off state. When it is determined according to the active return state signal that the steering wheel is in the active return state, at this time, since the steering wheel is in the active return state, it is not necessary to judge whether the steering wheel is in the hands-off state. Finally, the steering wheel state judgment result is output.

[0068] In another embodiment of the present application, the vehicle also has advanced functions, such as a remote control driving function. Specifically, after receiving an input signal within a preset time period, the method further includes: determining that the vehicle is in a remote control driving state.

[0069] In one example, determining that the vehicle is in a remote control driving state includes: C1, receiving a command to start remote control driving; C2, determining whether an angle sensor is turned on; C3, when the angle sensor is turned on, determining that the vehicle has entered the remote control driving state.

[0070] In one example, after receiving an input signal within a preset time period, the method further includes: D1, determining whether the input signal is abnormal; D2, when the input signal is not abnormal, determining that the vehicle is in a normal driving state.

[0071] In one example, after determining that the vehicle is in a remote control driving state, the method further includes: D1, when the driver has an intention to intervene in driving, determining whether the hand force duration is greater than or equal to the hand force duration threshold; D2, when the hand force duration is greater than or equal to the hand force duration threshold, determining that the vehicle is in a driver-intervention driving state.

[0072] In one example, after determining that the driver is in an intervention driving state, the method further includes: E1, determining whether the angle sensor is turned on; E2, when the angle sensor is turned on, the vehicle is in a driver intervention driving state; E3, when the angle sensor is turned off, returning to the step of determining that the vehicle is in a remote control driving state.

[0073] In one example, the method further includes: determining that the driver has an intention to intervene in driving.

[0074] Among them, determining whether the driver has the intention to intervene in driving includes: F1, judging whether the hand force value is greater than or equal to the hand force threshold, and whether the hand force duration is greater than or equal to the hand force duration threshold; F2, when the hand force value is greater than or equal to the hand force threshold, and the hand force duration is less than the hand force duration threshold, determining that the vehicle is in a first intervention pending state; F3, when the vehicle is in the first intervention pending state, judging whether the hand force value becomes less than the hand force threshold, and whether the hand force duration is greater than or equal to the hand force duration threshold; F4, when the hand force value becomes less than the hand force threshold, and the hand force duration is less than the hand force duration threshold, determining that the vehicle is in a second intervention pending state.

[0075] In the embodiment of the present application, when the hand force value is greater than or equal to the hand force threshold, but the hand force duration does not reach the hand force duration threshold, it means that the driver has the intention to intervene, but has not yet entered the intervention state, and the vehicle state is the first intervention pending state. At this time, when the hand force value becomes less than the hand force threshold, since it is still impossible to determine whether the driver has the intention to intervene, the vehicle is in the second intervention pending state.

[0076] In one example, after receiving a command to start remote control driving, the method further includes: G1, determining a scene in which the vehicle is located; G2, determining, based on the type of the scene, an angle adjustment speed of the steering wheel corresponding to the type of the scene.

[0077] In the embodiment of the present application, the scene in which the vehicle is located may include a state in which there are many obstacles in the surrounding environment, a state in which there are few obstacles, etc. Accordingly, when there are many obstacles, the angle adjustment speed is slower to avoid collision with the obstacles.

[0078] like Figure 4As shown, when the vehicle is in a normal driving state, the scene in which the vehicle is located is determined, and it is determined whether to start the angle sensor, that is, the angle command is enabled. When the angle sensor is started, the vehicle enters the automatic steering state, that is, the angle command state. Within the first interval preset time, it is determined whether the hand force value is greater than or equal to the hand force threshold. If the hand force value is greater than or equal to the hand force threshold, it means that the driver has an intention to intervene, and the vehicle is in the first intervention pending state. At this time, when the hand force value becomes less than the hand force threshold, since it is impossible to determine whether the driver has an intention to intervene, the vehicle is in the second intervention pending state, that is, the pending state. At this time, it is determined whether the hand force duration is greater than or equal to the hand force duration threshold. If so, the vehicle enters the driver intervention state. At this time, within the second interval preset time, it is determined whether to start the angle sensor, that is, the angle command is enabled. If the angle sensor is still in the startup state, the driver intervention state is maintained. If the angle sensor is turned off, the driver intervention state is exited. At this time, it returns to the step of selecting to start the remote control driving function of the vehicle. In the meantime, when the vehicle state changes, the current state signal of the vehicle can be output, that is, the first intervention pending state, the second intervention pending state, and the driver intervention state.

[0079] like Figure 5 As shown, it is a schematic block diagram of the operation of the hands-off detection function of the EPS system 500, which shows the application method of the hands-off detection function in the EPS advanced function. The EPS system of the present application receives an input signal 501. The input signal includes a hand force signal, an active return state signal, a steering hand force signal valid state, an angle control state, and may also include a hand force duration, a steering assist signal and an active return state signal (not shown). The input signal stream is transmitted to the HOD hands-off detection function module 502, and the HOD hands-off detection function module includes a sensitivity adaptation module 504, a hands-off judgment module 505, a signal validity judgment module 506, and an advanced function execution module 507. The hands-off judgment module 505 includes a hand-held steering wheel state recognition module and an active return state recognition module. After executing the corresponding function, the above modules output the output signal stream as an output signal 503. The output signal 503 includes a hands-off state, a hands-off state signal valid, a driver intervention judgment state, an intervention judgment signal valid, a driver intervention state, and an intervention state signal valid.

[0080] Among them, after the input signal is processed by the internal control algorithm of the HOD hands-off detection function module, a series of state signals are obtained and transmitted to the electronic control unit (Electronic Control Unit, ECU), which is processed and then implemented by the corresponding actuator. Specifically, the sensitivity adaptation module 504 is used to further determine the hand force threshold and the hand force duration threshold according to the sensitivity level corresponding to the hand force value and the hand force change rate in the advance table stored in the electronic control unit. The hands-off judgment module 505 is used to judge whether the steering wheel is in a hands-off state. The signal validity judgment module 506 is used to judge whether each input signal is valid. The advanced function execution module 507 is used to select the remote control driving function. For the output signal 503, it includes a hands-off state signal, indicating whether the steering wheel is in a hands-off state. The hands-off state signal is valid, which is used to indicate whether the hands-off state signal is valid. The driver intervention judgment state is used to indicate whether the driver has an intention to intervene. The intervention judgment signal is valid, which is used to indicate whether the driver intervention judgment state signal is valid. The driver intervention state is used to indicate that the vehicle is in a driver intervention state. The intervention state signal is valid, which is used to indicate that the driver intervention state signal is valid.

[0081] This application fully considers the possible driver intervention during the implementation of advanced functions, ensuring the smooth implementation of EPS system functions while taking into account the safety of implementation. First, in the normal driving state of the vehicle, the EPS system receives the angle command enable signal of the advanced function, and the system successfully enters the command implementation state; during the implementation process, if the driver needs to intervene in the process, he will try to grasp the steering wheel to take action. At this time, the system needs to monitor the size of the driver's input hand force signal and the duration of the hand force to judge the driver's current intervention intention. After judgment, the state is divided into 3 types: driver intervention state, first intervention pending state and second intervention pending state. Once entering the driver intervention state, the driving of the vehicle is completely controlled by the driver.

[0082] like Figure 6As shown, in another embodiment of the present application, the input signal monitoring module receives an input signal, wherein SteeringTrq represents a hand force signal, ActiveReTrq represents an active return force signal, ValidSig represents a steering signal, and AngResState represents an angle command signal of an advanced function. The sensitivity adaptation module determines the sensitivity level (i.e., the sensitivity gear in the figure) according to the above signal, and sends it to the hands-off judgment module, so that the hands-off judgment module combines the sensitivity gear to determine whether the current hand force (Trq) and hand force duration (Time) exceed the hand force threshold and the hand force duration threshold, and then outputs the hands-on steering wheel state (i.e., hands-off state), as shown in HandOn_u8_Sig in the figure. Among them, the signal validity judgment module outputs the valid state of the hands-on steering wheel signal (as shown in HandOnValid_bl_sig in the figure), the intervention judgment signal is valid (as shown in DrivInterJudge_bl_Sig in the figure), and the intervention signal is valid (DrivInter_bl_Sig). Among them, the high-level function execution module outputs the driver intervention status (DrivInter_u8_Sig) and the driver intervention judgment status (DrivInterJudge_u8_Sig). The above signals are output to the next function control module of the EPS system along with the signal flow.

[0083] Specifically, in Figure 6 In the illustrated embodiment, the specific workflow of the hands-off detection method of the present application can be summarized as follows:

[0084] In the first step, the EPS system obtains the hand force signal, steering assist signal, active return force signal, angle command signal of advanced functions and various status signals from the input signal stream, and transmits them to the corresponding sensitivity adaptation module, hands-off judgment module, signal validity judgment module and advanced function execution module.

[0085] In the second step, the sensitivity adaptation module analyzes various characteristic parameters such as the hand force signal and steering assist signal in a preset time period, and gives a sensitivity gear (sensitivity level) corresponding to the degree of driving aggressiveness to determine the hand force threshold and hand force duration threshold in the hands-off judgment module.

[0086] In the third step, the hand force signal and the real-time active self-centering force of the vehicle are used to judge the hands-off state of the steering wheel, and finally a state signal reflecting the judgment result is output; at the same time, the system's signal validity judgment and advanced function execution judgment are also in progress. When the driver issues an instruction to execute an advanced function to the vehicle EPS through the remote control or the vehicle computer, the driver intervention judgment algorithm also starts the standby monitoring of the driver's hand force signal on the steering wheel; when the monitored hand force signal reaches the set hand force threshold, that is, the hand force condition is met, the EPS system determines to enter the first intervention pending state, and when the hand force signal remains satisfied for a duration that also reaches the set hand force duration threshold, that is, the time condition is met, the EPS system determines to enter the driver intervention state; when the hand force signal meets the hand force condition but fails to meet the time condition, and the hand force signal drops to less than the hand force threshold, the EPS system determines to enter the second intervention pending state, and the system finally outputs the corresponding signal validity judgment result and driver intervention judgment result.

[0087] In the fourth step, all the signals involved above will be output to the EPS system processor for further processing.

[0088] The technical points and beneficial effects of the present invention are as follows:

[0089] (1) Under actual driving conditions, due to individual differences and habit differences among drivers, each driver has different requirements for the hand force characteristics and sensitivity applied to the EPS system to achieve specific actions. Therefore, the present application provides a function for analyzing the driver's needs based on the hand force signal, and provides a hand force threshold and a hand force duration threshold corresponding to the sensitivity to detect the hands-off state. The present application enables the steering system to have a wider adaptability, improves the vehicle driving comfort and driving safety, and avoids the problem of misjudgment caused by the mismatch between the actual hand force of the driver and the set hands-off judgment threshold when using the EPS system. The present application can even be applied to drivers who use the EPS system for the first time.

[0090] (2) The present application also monitors the hand force signal and steering state of the EPS system in real time, sets the corresponding hand force threshold and hand force duration threshold, and uses the control algorithm to determine whether the driver has taken his hands off the steering wheel. Since the control algorithm is simple and effective, and the control logic judgment conditions are clear, the present application is easy to debug and modify, and also has good robustness.

[0091] (3) In the EPS advanced function, although hands-off detection is not required when remote driving is performed, the vehicle needs to judge the driver's intention based on the driver's hand intervention when implementing the advanced function instructions. This is similar to judging the driver's intention to take the hands off in hands-off monitoring. Therefore, the driver intervention judgment logic in this application makes the entire control algorithm more in line with actual driving conditions, avoiding safety hazards caused by the system's inability to recognize the current situation due to driver intervention.

[0092] (4) The hands-off detection method of the present application uses the existing sensor signals of the EPS system without using additional sensors or cameras, thereby reducing the occupation of system ECU resources, improving system reliability and controlling costs.

[0093] (5) This application is applicable to various operating conditions during vehicle driving except active self-centering, including straight-line acceleration and deceleration, uphill and downhill driving, high-speed and low-speed turning, and driving on complex roads.

[0094] Combine the following Figure 7 The vehicle of the present application is described, wherein: Figure 7 A schematic block diagram of a vehicle according to an embodiment of the present application is shown.

[0095] like Figure 7 As shown, the vehicle 700 includes: one or more memories 701 and one or more processors 702, and the memory 701 stores a computer program executed by the processor 702. When the computer program is executed by the processor 702, the processor 702 executes the steering wheel hands-off detection method described above.

[0096] The vehicle 700 may be part or all of a computer device that can implement a method for detecting a hands-off steering wheel by means of software, hardware, or a combination of software and hardware.

[0097] like Figure 7 As shown, the vehicle 700 includes one or more memories 701, one or more processors 702, a display (not shown), and a communication interface, etc. These components are interconnected through a bus system and / or other forms of connection mechanisms (not shown). It should be noted that Figure 7 The components and structures of the vehicle 700 shown are merely exemplary and non-limiting. The vehicle 700 may also have other components and structures as required.

[0098] The memory 701 is used to store various data and executable program instructions generated during the operation of the method of the present application, such as for storing various application programs or algorithms for implementing various specific functions. It may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc.

[0099] Processor 702 can be a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other form of processing unit with data processing capabilities and / or instruction execution capabilities, and can communicate with other components in vehicle 700 to perform desired functions.

[0100] In one example, the vehicle 700 also includes an output device that can output various information (such as images or sounds) to the outside (such as a user), and can include one or more of a display device, a speaker, etc.

[0101] The communication interface can be an interface of any currently known communication protocol, such as a wired interface or a wireless interface, wherein the communication interface may include one or more serial ports, USB interfaces, Ethernet ports, WiFi, wired networks, DVI interfaces, device integrated interconnect modules or other suitable ports, interfaces, or connections.

[0102] In addition, according to an embodiment of the present application, a storage medium is also provided, on which program instructions are stored, and when the program instructions are executed by a computer or a processor, the corresponding steps of the steering wheel hands-off detection method of the embodiment of the present application are executed. The storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a portable compact disk read-only memory (CD-ROM), a USB memory, or any combination of the above storage media.

[0103] The vehicle and storage medium of the embodiments of the present application have the same advantages as the aforementioned steering wheel hands-off detection method because they can implement the aforementioned method.

[0104] Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above example embodiments are merely exemplary and are not intended to limit the scope of the present application to this. Those of ordinary skill in the art may make various changes and modifications therein without departing from the scope and spirit of the present application. All these changes and modifications are intended to be included within the scope of the present application as required by the appended claims.

[0105] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0107] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0108] Similarly, it should be understood that in order to streamline the present application and help understand one or more of the various inventive aspects, in the description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the method of the present application should not be interpreted as reflecting the following intention: the claimed application requires more features than the features clearly stated in each claim. More specifically, as reflected in the corresponding claims, the inventive point is that the corresponding technical problem can be solved with features less than all the features of a single disclosed embodiment. Therefore, the claims following the specific embodiment are hereby explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present application.

[0109] It will be understood by those skilled in the art that, except for mutually exclusive features, all features disclosed in this specification (including the accompanying claims, abstracts and drawings) and all processes or units of any method or device disclosed in this specification may be combined in any combination. Unless otherwise expressly stated, each feature disclosed in this specification (including the accompanying claims, abstracts and drawings) may be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0110] In addition, those skilled in the art will appreciate that, although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features of different embodiments is meant to be within the scope of the present application and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0111] The various component embodiments of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It should be understood by those skilled in the art that a microprocessor or digital signal processor (DSP) can be used in practice to implement some or all functions of some modules according to the embodiments of the present application. The application can also be implemented as a device program (e.g., computer program and computer program product) for executing a part or all of the methods described herein. Such a program implementing the present application can be stored on a computer-readable medium, or can have the form of one or more signals. Such a signal can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0112] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and that those skilled in the art may design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets should not be constructed as a limitation to the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of multiple such elements. The present application may be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In a unit claim that lists several devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names.

[0113] The above is only a specific implementation or description of a specific implementation of the present application, and the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for detecting a hands-off steering wheel, characterized in that: Applied to a vehicle, the method comprises: Receive input signals within a preset time period; wherein the input signals include a hand force signal, a hand force duration, a steering assist signal, and an active return state signal; Determining the sensitivity level of the steering wheel according to the hand force signal and the steering assist signal; comprising: Calculating a hand force value and a hand force change rate according to the hand force signal and the steering assist signal within the preset time period; determining the sensitivity level of the steering wheel according to the sensitivity levels corresponding to the hand force value and the hand force change rate in an advance table stored in an electronic control unit; Determining a hand force threshold and a hand force duration threshold according to the hand force signal, the hand force duration and the sensitivity level; Whether the steering wheel is in a hands-off state is determined according to the hand force threshold, the hand force duration threshold and the active return state signal.

2. The method according to claim 1, characterized in that Judging whether the steering wheel is in a hands-off state according to the hand force threshold, the hand force duration threshold and the active return state includes: When the hand force value is greater than or equal to the hand force threshold and the hand force duration is greater than or equal to the hand force duration threshold, determining that the steering wheel is not in the hands-off state; or When the hand force value is less than the hand force threshold, or the hand force duration is less than the hand force duration threshold, and the steering wheel is not in the active return state, it is determined that the steering wheel is in the hands-off state, wherein the active return state is determined based on the active return state signal.

3. The method according to claim 1, characterized in that After receiving an input signal within a preset time period, the method further includes: It is determined that the vehicle is in a remote control driving state.

4. The method according to claim 3, characterized in that Determining that the vehicle is in a remote control driving state includes: Receiving a command to start remote control driving; Determine whether the angle sensor is turned on; When the angle sensor is turned on, it is determined that the vehicle has entered a remote control driving state.

5. The method according to claim 4, characterized in that After determining that the vehicle is in a remote control driving state, the method further includes: When it is determined that the driver has an intention to intervene in driving, determining whether the hand force duration is greater than or equal to the hand force duration threshold; When the hand force duration is greater than or equal to the hand force duration threshold, it is determined that the vehicle is in a driver intervention driving state.

6. The method according to claim 5, characterized in that After determining that the driver is in the intervention driving state, the method further includes: Determining whether the angle sensor is turned on; When the angle sensor is turned on, the vehicle is in a driver intervention driving state; When the angle sensor is turned off, the process returns to the step of determining that the vehicle is in a remote control driving state.

7. The method according to claim 5, characterized in that The method further includes: determining that the driver has an intention to intervene in driving; Among them, determining whether the driver intends to intervene in driving includes: Determine whether the hand force value is greater than or equal to the hand force threshold, and whether the hand force duration is greater than or equal to the hand force duration threshold; When the hand force value is greater than or equal to the hand force threshold, and the hand force duration is less than the hand force duration threshold, determining that the vehicle is in a first intervention pending state; When the vehicle is in the first intervention pending state, determining whether the hand force value becomes smaller than the hand force threshold, and whether the hand force duration is greater than or equal to the hand force duration threshold; When the hand force value becomes smaller than the hand force threshold, and the hand force duration is smaller than the hand force duration threshold, it is determined that the vehicle is in a second intervention pending state.

8. The method according to claim 4, characterized in that After receiving the command to start remote control driving, the method further includes: Determining a scene in which the vehicle is located; According to the type of the scene, an angle adjustment speed of the steering wheel corresponding to the type of the scene is determined.

9. The method according to claim 1, characterized in that After receiving an input signal within a preset time period, the method further includes: Determining whether the input signal is abnormal; When there is no abnormality in the input signal, it is determined that the vehicle is in a normal driving state.

10. A vehicle, characterized in that: The vehicle comprises: A memory and a processor, wherein the memory stores a computer program executed by the processor, and when the computer program is executed by the processor, the processor executes the method for detecting hands-off steering wheel according to any one of claims 1 to 9.

11. A storage medium, characterized in that: The storage medium stores a computer program, which, when executed by a processor, enables the processor to execute the method for detecting hands-off steering wheel according to any one of claims 1 to 9.

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