Driver hand-off detection method, device, vehicle, and storage medium

Abstract

The application relates to the technical field of assisted driving, in particular to a driver hand-off detection method and device, a vehicle and a storage medium, wherein the method comprises the following steps: judging whether a vehicle is in a target hand-off detection working condition; acquiring at least one current steering wheel working parameter of the vehicle in the case that the vehicle is in the target hand-off detection working condition; calculating a target torque value of the steering wheel by using the at least one current steering wheel working parameter, confirming a current hand force value of the driver according to the target torque value, and obtaining a hand-off detection result of the driver based on the current hand force value. The application can calculate the hand force value of the driver through various steering wheel working parameters, effectively detect the hand-off state of the driver to the steering wheel, improve the sensitivity of the hand-off state detection, realize refined processing for different driving scenes, and is more accurate.

Description

Technical Field

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

[0002] With the development of vehicle technology, the popularity of ADAS (Advanced Driving Assistance System) has increased. To ensure the reliability and functionality of ADAS, vehicles need to be equipped with corresponding hands-free detection functions when performing advanced driver assistance.

[0003] In related technologies, it is possible to determine whether the driver is in a hands-free or hands-free state by judging whether the steering wheel torque and duration exceed a set threshold, or by installing a capacitor-controlled steering wheel and detecting whether the capacitance exceeds a set threshold to confirm the hands-free state of the steering wheel.

[0004] However, in related technologies, the criteria for hands-off detection based on steering wheel torque magnitude and duration are singular and cannot achieve comprehensive coverage of actual driving scenarios. This increases the false judgment rate of hands-off detection, increases the probability of driving risks, and affects vehicle safety, which urgently needs to be addressed. Furthermore, equipping a capacitor-driven steering wheel increases the overall vehicle cost and reduces the vehicle's market competitiveness. Summary of the Invention

[0005] This application provides a method, device, vehicle, and storage medium for detecting driver hands-off operation, in order to solve the problems in related technologies where the hands-off detection criteria based on steering wheel torque magnitude and duration are too simplistic and cannot achieve comprehensive coverage of actual driving scenarios, resulting in a higher false detection rate, increased risk of vehicle driving, and impact on vehicle safety. These issues urgently need to be addressed. Furthermore, the installation of a capacitor-controlled steering wheel increases the overall vehicle cost and reduces the vehicle's market competitiveness.

[0006] The first aspect of this application provides a method for detecting a driver's hands-off operation, comprising the following steps: determining whether a vehicle is in a target hands-off detection condition; when the vehicle is in the target hands-off detection condition, acquiring at least one current steering wheel operating parameter of the vehicle; calculating a target torque value of the steering wheel using the at least one current steering wheel operating parameter, and confirming the driver's current hand force value based on the target torque value, so as to obtain the driver's hands-off detection result based on the current hand force value.

[0007] Optionally, in one embodiment of this application, the step of calculating the target torque value of the steering wheel using the at least one current steering wheel operating parameter includes: calculating the angular acceleration of the steering wheel from the steering wheel rotation speed signal of the vehicle, obtaining the inertial torque of the steering wheel based on the angular acceleration; acquiring the steering wheel torque of the vehicle, and performing phase alignment of the steering wheel torque and the inertial torque based on a preset phase delay time, and obtaining the target torque value based on the phase-aligned inertial torque and steering wheel torque.

[0008] Optionally, in one embodiment of this application, the step of calculating the target torque value of the steering wheel using the at least one current steering wheel operating parameter includes: confirming the rotational speed value and rotational direction of the steering wheel rotational speed signal; matching the corresponding first torque value in a first torque calibration table based on the rotational speed value; confirming the friction and damping torque of the steering wheel according to the rotational speed direction and the first torque value; and obtaining the target torque value from the friction and damping torque.

[0009] Optionally, in one embodiment of this application, the step of calculating the target torque value of the steering wheel using the at least one current steering wheel operating parameter includes: calculating the current heading angle of the vehicle based on the yaw rate signal of the vehicle; matching the corresponding second torque value in a second torque calibration table according to the current heading angle; confirming the geomagnetic torque of the vehicle according to the second torque value; and obtaining the target torque value from the geomagnetic torque.

[0010] Optionally, in one embodiment of this application, the step of matching the corresponding second torque value in the second torque calibration table based on the current heading angle includes: determining whether the vehicle's steering wheel angle signal, steering wheel speed signal, yaw rate signal, and steering wheel torque all meet preset calibration update conditions; if the preset calibration update conditions are met, updating the second torque calibration table based on the steering wheel torque, and matching the second torque value using the updated second torque calibration table.

[0011] Optionally, in one embodiment of this application, obtaining the driver's hands-off detection result based on the current hand force value includes: if the current hand force value and the duration of the current hand force value satisfy a preset verification condition, detecting whether the vehicle meets a preset latch update condition; if the vehicle meets the preset latch update condition, updating the hands-off detection result based on the current hand force value and the duration; otherwise, obtaining the hands-off detection result based on the vehicle's historical latch state.

[0012] A second aspect of this application provides a driver's hands-off detection device, comprising: a judgment module for judging whether a vehicle is in a target hands-off detection condition; an acquisition module for acquiring at least one current steering wheel operating parameter of the vehicle when the vehicle is in the target hands-off detection condition; and a detection module for calculating a target torque value of the steering wheel using the at least one current steering wheel operating parameter, confirming the driver's current hand force value based on the target torque value, and obtaining the driver's hands-off detection result based on the current hand force value.

[0013] Optionally, in one embodiment of this application, the detection module includes: a calculation unit, configured to calculate the angular acceleration of the steering wheel from the steering wheel rotation speed signal of the vehicle, and obtain the moment of inertia torque of the steering wheel based on the angular acceleration; and an acquisition unit, configured to acquire the steering wheel torque of the vehicle, and perform phase alignment of the steering wheel torque and the moment of inertia torque based on a preset phase delay time, and obtain the target torque value based on the phase-aligned moment of inertia torque and steering wheel torque.

[0014] Optionally, in one embodiment of this application, the detection module includes: a first matching unit, configured to confirm the rotational speed value and rotational direction of the steering wheel rotational speed signal, and match a corresponding first torque value in a first torque calibration table based on the rotational speed value; and a first confirmation unit, configured to confirm the friction and damping torque of the steering wheel according to the rotational speed direction and the first torque value, and obtain the target torque value from the friction and damping torque.

[0015] Optionally, in one embodiment of this application, the detection module includes: a second matching unit, configured to calculate the current heading angle of the vehicle based on the yaw rate signal of the vehicle, and match a corresponding second torque value in a second torque calibration table according to the current heading angle; and a second confirmation unit, configured to confirm the geomagnetic torque of the vehicle according to the second torque value, and obtain the target torque value from the geomagnetic torque.

[0016] Optionally, in one embodiment of this application, the second matching unit is specifically used to: determine whether the steering wheel angle signal, the steering wheel speed signal, the yaw rate signal, and the steering wheel torque of the vehicle all meet the preset calibration update conditions; if the preset calibration update conditions are met, update the second torque calibration table based on the steering wheel torque, and use the updated second torque calibration table to match the second torque value.

[0017] Optionally, in one embodiment of this application, the detection module includes: a detection unit, configured to detect whether the vehicle meets a preset latch update condition if the current hand force value and the duration of the current hand force value meet a preset verification condition; and an update unit, configured to update the release detection result based on the current hand force value and the duration if the vehicle meets the preset latch update condition, otherwise, obtain the release detection result based on the historical latch state of the vehicle.

[0018] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the driver hands-off detection method as described in the above embodiments.

[0019] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described driver hands-off detection method.

[0020] A fifth aspect of this application provides a computer program that, when executed, implements the above-described driver hands-off detection method.

[0021] This application's embodiments can calculate the driver's hand force value through various steering wheel operating parameters, effectively detecting the driver's hands-off state, thereby improving the sensitivity of hands-off state detection and achieving refined processing for different driving scenarios, resulting in higher accuracy. This solves the problems in related technologies where the hands-off detection criteria based on steering wheel torque magnitude and duration are singular, failing to achieve comprehensive coverage of actual driving scenarios, leading to a higher false positive rate in hands-off detection, increasing the probability of driving risks, and affecting vehicle safety. Furthermore, the installation of capacitive steering wheels increases the overall vehicle cost and reduces the vehicle's market competitiveness.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0024] Figure 1 This is a flowchart of a driver's hands-free detection method according to an embodiment of this application;

[0025] Figure 2 This is a logical diagram illustrating the calculation of moment of inertia torque according to one embodiment of this application;

[0026] Figure 3 This is a logic diagram illustrating the processing of steering wheel torque according to one embodiment of this application;

[0027] Figure 4 This is a logic diagram illustrating the calculation of friction and damping torque according to an embodiment of this application;

[0028] Figure 5 This is a logic diagram illustrating the processing of geomagnetic torque according to one embodiment of this application;

[0029] Figure 6 This is a schematic diagram illustrating the logic for determining whether the steering wheel is off-hand or held by the hands, according to one embodiment of this application.

[0030] Figure 7 This is a schematic diagram illustrating the logic for determining the steering wheel state latch according to an embodiment of this application;

[0031] Figure 8 This is a schematic diagram illustrating the logic of driver hands-off detection according to an embodiment of this application;

[0032] Figure 9 This is a schematic diagram of the driver's hands-off detection device according to an embodiment of this application;

[0033] Figure 10 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0034] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0035] The following description, with reference to the accompanying drawings, outlines a driver's hands-off detection method, apparatus, vehicle, and storage medium according to embodiments of this application. Addressing the limitations of the related technologies mentioned in the background section, which rely on a single criterion of steering wheel torque magnitude and duration for hands-off detection, this method fails to comprehensively cover actual driving scenarios. This leads to a higher false positive rate in hands-off detection, increasing the probability of driving risks and impacting vehicle safety. Furthermore, the installation of capacitive steering wheels increases overall vehicle costs and reduces the vehicle's market competitiveness. This application provides a driver's hands-off detection method. In this method, the driver's hand force value can be calculated using various steering wheel operating parameters to effectively detect the driver's hands-off state, thereby improving the sensitivity of hands-off state detection and enabling refined processing for different driving scenarios, resulting in higher accuracy. This solves the problems in the related technologies where the single criterion of steering wheel torque magnitude and duration for hands-off detection fails to comprehensively cover actual driving scenarios, leading to a higher false positive rate, increased driving risks, and impacting vehicle safety. Additionally, the installation of capacitive steering wheels increases overall vehicle costs and reduces the vehicle's market competitiveness.

[0036] Specifically, Figure 1 This is a flowchart illustrating a driver's hands-off detection method provided in an embodiment of this application.

[0037] like Figure 1 As shown, the method for detecting a driver's hands-off behavior includes the following steps:

[0038] In step S101, it is determined whether the vehicle is in the target hands-free detection condition.

[0039] It is understood that, in the embodiments of this application, the target hands-off detection condition can be the condition corresponding to the activation of the vehicle's ADAS advanced driver assistance system. At this time, the vehicle in the target assisted driving condition needs to use the hands-off detection method to continuously detect whether the driver is performing the corresponding dynamic driving task and whether there is a situation where the steering wheel is taken off.

[0040] In step S102, when the vehicle is in the target hands-off detection condition, at least one current steering wheel operating parameter of the vehicle is acquired.

[0041] It is understood that, in the embodiments of this application, when it is confirmed that the vehicle is in the target hands-off detection condition, the steering wheel operating parameters can be obtained in real time by the sensors installed on the vehicle's steering wheel, such as torque sensors, angle sensors, touch sensors, etc. The steering wheel operating parameters can be used to determine whether the driver is operating the steering wheel, including relevant parameters such as steering wheel torque and speed.

[0042] In step S103, the target torque value of the steering wheel is calculated using at least one current steering wheel operating parameter, and the driver's current hand force value is confirmed based on the target torque value, so as to obtain the driver's hands-off detection result based on the current hand force value.

[0043] It is understood that, in the embodiments of this application, multiple target torque values ​​of the steering wheel can be calculated by at least one current steering wheel working parameter obtained in the above embodiments, and the driver's current hand force value can be calculated by superimposing multiple target torque values, and finally the driver's hands-off detection result can be confirmed based on the driver's current hand force value.

[0044] Among these features, when the system detects that the driver has taken their hands off the wheel, it can alert the driver through visual, auditory, or tactile feedback, or take intervention measures, such as automatically making slight adjustments to the steering wheel or slowing down the vehicle, to ensure driving safety.

[0045] Optionally, in one embodiment of this application, calculating the target torque value of the steering wheel using at least one current steering wheel operating parameter includes: calculating the angular acceleration of the steering wheel from the vehicle's steering wheel rotation speed signal, obtaining the inertial torque of the steering wheel based on the angular acceleration; acquiring the vehicle's steering wheel torque, and performing phase alignment of the steering wheel torque and the inertial torque based on a preset phase delay time, and obtaining the target torque value based on the phase-aligned inertial torque and steering wheel torque.

[0046] In actual execution, the steering wheel speed signal can be received, the speed signal can be filtered, the steering wheel angular acceleration can be calculated, the angular acceleration can be filtered, the angular acceleration and the steering wheel torque signal can be adjusted to ensure phase alignment, and the moment of inertia torque can be calculated based on the angular acceleration.

[0047] Specifically, such as Figure 2 The diagram shown is a logical schematic of calculating the moment of inertia torque according to an embodiment of this application. The rotational speed signal is filtered to remove high-frequency interference above 100Hz. The rotational speed is differentiated to obtain angular acceleration, and the angular acceleration signal is filtered to remove high-frequency glitches above 40Hz. Then, the moment of inertia torque Tj is phase-aligned with the steering wheel torque Thw. Since the phase behavior of these two parameters differs for different vehicle models, the phase delay requirements also differ. Therefore, a delay calibration parameter, namely the phase delay time ΔTj, needs to be set. Finally, the moment of inertia torque Tj is obtained by multiplying the inertia and angular acceleration.

[0048] Like Figure 3The diagram shown is a logic diagram of processing steering wheel torque according to an embodiment of this application. The steering wheel torque signal Ttb is filtered to remove high-frequency interference above 30Hz. The filtered torque signal is then phase-aligned with the inertial torque Tj. Since the phase performance of the two is different for different vehicle models, the phase delay requirements are correspondingly different. Therefore, a delay calibration parameter, ΔThw, needs to be set.

[0049] Optionally, in one embodiment of this application, calculating the target torque value of the steering wheel using at least one current steering wheel operating parameter includes: confirming the rotational speed value and rotational direction of the steering wheel rotational speed signal; matching the corresponding first torque value in a first torque calibration table based on the rotational speed value; confirming the friction and damping torque of the steering wheel according to the rotational speed direction and the first torque value; and obtaining the target torque value from the friction and damping torque.

[0050] In actual implementation, such as Figure 4 As shown, the friction and damping torque can be obtained by receiving the steering wheel speed signal and calibrating and matching it according to the steering wheel speed. The corresponding first torque value is matched in the first torque calibration table, and the direction of the steering wheel speed signal is extracted. The final output friction and damping torque Tf is then obtained. The first torque calibration table can be preset before the vehicle leaves the factory and can be updated through self-learning. For example, the first torque calibration table can be the speed-friction and damping torque calibration table shown in Table 1 below.

[0051] Table 1

[0052]

[0053] Optionally, in one embodiment of this application, calculating the target torque value of the steering wheel using at least one current steering wheel operating parameter includes: calculating the current heading angle of the vehicle based on the vehicle's yaw rate signal; matching the corresponding second torque value in a second torque calibration table according to the current heading angle; confirming the vehicle's geomagnetic torque based on the second torque value; and obtaining the target torque value from the geomagnetic torque.

[0054] In actual operation, by receiving vehicle yaw rate signals, steering wheel angle signals, steering wheel speed signals, and steering wheel torque signals, the vehicle's heading angle can be calculated based on the yaw rate signals, thereby establishing the relationship between the heading angle and the cardinal directions (north, south, east, and west) and the corresponding geomagnetic torque. The second torque calibration table can be pre-set before the vehicle leaves the factory and can be updated through self-learning. For example, the second torque calibration table can be the heading angle-geomagnetic torque calibration table shown in Table 2 below.

[0055] Table 2

[0056]

[0057] Optionally, in one embodiment of this application, matching the corresponding second torque value in the second torque calibration table based on the current heading angle includes: determining whether the vehicle's steering wheel angle signal, steering wheel speed signal, yaw rate signal, and steering wheel torque all meet the preset calibration update conditions; if the preset calibration update conditions are met, updating the second torque calibration table based on the steering wheel torque, and matching the second torque value using the updated second torque calibration table.

[0058] It should be noted that the preset calibration update conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0059] In actual execution, the geomagnetic torque Tm at the corresponding heading angle can be updated based on the set steering wheel angle, steering wheel speed, steering wheel torque, and duration conditions. The preset calibration update conditions are: whether the steering wheel angle is less than 2 degrees (calibrable), whether the steering wheel speed is less than 1 degree / s (calibrable), whether the steering wheel torque is less than 0.3 Nm (calibrable), and whether the duration is greater than 1000 ms. If all four conditions are met, it is considered that the vehicle's steering wheel angle signal, steering wheel speed signal, yaw rate signal, and steering wheel torque all meet the preset calibration update conditions, and the second torque calibration table is updated.

[0060] Among them, the acquisition and updating of the geomagnetic torque Tm is as follows: Figure 5 As shown, the embodiments of this application consider the geomagnetic influence of different orientations on the steering wheel torque sensor when the sample leaves the factory. By designing a self-learning update strategy for the geomagnetic torque Tm, it is possible to effectively judge the influence of geomagnetic torque on different samples and the same sample before and after durability. This ensures that the accuracy of the driver's actual hand force value Td is not different due to the differences between samples and the differences in durability of the same sample, thereby improving the sensitivity of state detection and realizing the judgment of hand-holding state in subdivided scenarios (such as the driver lightly holding the steering wheel when the vehicle is driving on a long straight road, or the driver adjusting the steering wheel with a small torque within a small angle).

[0061] Optionally, in one embodiment of this application, obtaining the driver's hands-off detection result based on the current hand force value includes: if the current hand force value and the duration of the current hand force value meet preset verification conditions, detecting whether the vehicle meets preset latch update conditions; if the vehicle meets the preset latch update conditions, updating the hands-off detection result based on the current hand force value and the duration; otherwise, obtaining the hands-off detection result based on the vehicle's historical latch state.

[0062] It should be noted that the preset verification conditions and preset latch update conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0063] In actual implementation, such as Figure 6 As shown, the preset verification conditions may include the following: when the current hand force value Td is greater than the threshold Td_HON (0.2Nm) and the duration T is greater than the threshold Time_HON (100ms), the driver's hands-free status signal HOD_Status is output as the hands-on state; when the current hand force value Td is less than the threshold Td_HOF (0.15Nm) and the duration T is greater than the threshold Time_HOF (100ms), the driver's hands-free status signal HOD_Status is output as the hands-free state. At this time, it is considered that the current hand force value and the duration of the current hand force value meet the preset verification conditions. If they are not met, the driver's hands-free status judgment result of the previous moment is maintained.

[0064] again Figure 7 The diagram shown is a logical schematic of the steering wheel state latch determination according to an embodiment of this application. Based on the output driver's hands-on and hands-off state signals, it checks whether a preset latch update condition is met, i.e., whether the vehicle has a state latch or whether the state latch time has expired. If the vehicle does not have a state latch or the state latch time has expired, the state is updated according to the driver's hands-off detection result and latched according to the state latch time. The final driver's hands-on state signal is then output to the ADAS ECU (Electronic Control Unit). For example, when the driver turns the steering wheel past the center position, the hand force value Td changes between hands-off and hands-on states. When turning the steering wheel at a slower speed, the driver's hands-off state signal HOD_Status switches between hands-off and hands-on states while the actual driver is in a hands-on state. To avoid this situation, a state latch time △T_Lock (0.3s, calibrable) is added to ensure the continuity of the HOD_Status result.

[0065] The following detailed description of the working content of the embodiments of this application is based on a specific example. Figure 8The diagram shown is a logical schematic of a driver hands-off detection method according to an embodiment of this application. It utilizes the steering wheel torque signal Ttb measured by the vehicle's existing torque sensor, the steering wheel angle signal measured by the angle sensor, the steering wheel rotation speed signal calculated by differentiating the steering wheel angle, and the vehicle yaw rate signal. These are then superimposed using an algorithm to calculate the actual driver's hand force value Td, effectively determining the steering wheel hands-off or hands-on state during ADAS function operation. No additional hardware is required, reducing the cost of driver hands-off detection. Furthermore, by utilizing the differences in steering system characteristics between the hands-off and hands-on steering wheel states, the true driver's hand force value Td can be calculated using a unified dynamic equation. When the steering wheel is off-hand, the inertia of the steering wheel and steering column, steering system friction, steering system damping, and the geomagnetic influence on the steering wheel torque sensor can be eliminated from the Ttb value. This allows for effective judgment of applicable scenarios for hands-off detection. It can also effectively determine the true driver's hand force value Td in specific scenarios (such as when the vehicle is subjected to continuous road impacts, and the tires transmit a large torque to the steering wheel for a long time, or when ADAS actively requests rapid steering, resulting in a large steering wheel torque value on the steering wheel torque sensor due to steering wheel inertia), thereby further improving the accuracy of driver hands-off state detection.

[0066] The driver's hands-off detection method proposed in this application can calculate the driver's hand force value through various steering wheel operating parameters, effectively detecting the driver's hands-off state, thereby improving the sensitivity of hands-off state detection and achieving refined processing for different driving scenarios, resulting in higher accuracy. This solves the problems in related technologies where the hands-off detection criteria based on steering wheel torque magnitude and duration are singular, failing to achieve comprehensive coverage of actual driving scenarios, leading to a higher false positive rate in hands-off detection, increasing the probability of driving risks, and affecting vehicle safety. Furthermore, the installation of capacitive steering wheels increases the overall vehicle cost and reduces the vehicle's market competitiveness.

[0067] Next, with reference to the accompanying drawings, a driver hands-off detection device according to an embodiment of this application is described.

[0068] Figure 9 This is a schematic diagram of the driver's hands-off detection device according to an embodiment of this application.

[0069] like Figure 9 As shown, the driver's hands-off detection device 10 includes: a judgment module 100, an acquisition module 200, and a detection module 300.

[0070] The judgment module 100 is used to determine whether the vehicle is in the target hands-off detection condition.

[0071] The acquisition module 200 is used to acquire at least one current steering wheel operating parameter of the vehicle when the vehicle is in the target hands-off detection condition.

[0072] The detection module 300 is used to calculate the target torque value of the steering wheel using at least one current steering wheel operating parameter, determine the driver's current hand force value based on the target torque value, and obtain the driver's hands-off detection result based on the current hand force value.

[0073] Optionally, in one embodiment of this application, the detection module 300 includes a calculation unit and an acquisition unit.

[0074] The calculation unit is used to calculate the angular acceleration of the steering wheel from the vehicle's steering wheel rotation speed signal, and to obtain the moment of inertia torque of the steering wheel based on the angular acceleration.

[0075] The acquisition unit is used to acquire the steering wheel torque of the vehicle, and to perform phase alignment of the steering wheel torque and the moment of inertia torque based on a preset phase delay time, and to obtain the target torque value based on the phase-aligned moment of inertia torque and steering wheel torque.

[0076] Optionally, in one embodiment of this application, the detection module 300 includes a first matching unit and a first confirmation unit.

[0077] The first matching unit is used to confirm the speed value and direction of the steering wheel speed signal, and to match the corresponding first torque value in the first torque calibration table based on the speed value.

[0078] The first confirmation unit is used to confirm the friction and damping torque of the steering wheel based on the rotation direction and the first torque value, and to obtain the target torque value from the friction and damping torque.

[0079] Optionally, in one embodiment of this application, the detection module 300 includes: a second matching unit and a second confirmation unit.

[0080] The second matching unit is used to calculate the vehicle's current heading angle based on the vehicle's yaw rate signal, and match the corresponding second torque value in the second torque calibration table according to the current heading angle.

[0081] The second confirmation unit is used to confirm the vehicle's geomagnetic torque based on the second torque value, and to obtain the target torque value from the geomagnetic torque.

[0082] Optionally, in one embodiment of this application, the second matching unit is specifically used to: determine whether the vehicle's steering wheel angle signal, steering wheel speed signal, yaw rate signal, and steering wheel torque all meet the preset calibration update conditions; if the preset calibration update conditions are met, update the second torque calibration table based on the steering wheel torque, and use the updated second torque calibration table to match the second torque value.

[0083] Optionally, in one embodiment of this application, the detection module 300 includes a detection unit and an update unit.

[0084] The detection unit is used to detect whether the vehicle meets the preset latch update conditions if the current hand force value and the duration of the current hand force value meet the preset verification conditions.

[0085] The update unit is used to update the release detection result based on the current hand force value and duration when the vehicle meets the preset latch update conditions; otherwise, the release detection result is obtained based on the vehicle's historical latch state.

[0086] It should be noted that the foregoing explanation of the driver's hands-off detection method embodiment also applies to the driver's hands-off detection device of this embodiment, and will not be repeated here.

[0087] The driver's hands-off detection device proposed in this application can calculate the driver's hand force value through various steering wheel operating parameters, effectively detecting the driver's hands-off state, thereby improving the sensitivity of hands-off state detection and achieving refined processing for different driving scenarios, resulting in higher accuracy. This solves the problems in related technologies where the hands-off detection criteria based on steering wheel torque magnitude and duration are singular, failing to achieve comprehensive coverage of actual driving scenarios, leading to a higher false positive rate in hands-off detection, increasing the probability of driving risks, and affecting vehicle safety. Furthermore, the installation of capacitive steering wheels increases the overall vehicle cost and reduces the vehicle's market competitiveness.

[0088] Figure 10 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0089] The memory 1001, the processor 1002, and the computer program stored on the memory 1001 and capable of running on the processor 1002.

[0090] When the processor 1002 executes the program, it implements the driver's hands-off detection method provided in the above embodiments.

[0091] Furthermore, the vehicle also includes:

[0092] Communication interface 1003 is used for communication between memory 1001 and processor 1002.

[0093] The memory 1001 is used to store computer programs that can run on the processor 1002.

[0094] The memory 1001 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0095] If the memory 1001, processor 1002, and communication interface 1003 are implemented independently, then the communication interface 1003, memory 1001, and processor 1002 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0096] Optionally, in a specific implementation, if the memory 1001, processor 1002, and communication interface 1003 are integrated on a single chip, then the memory 1001, processor 1002, and communication interface 1003 can communicate with each other through an internal interface.

[0097] The processor 1002 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0098] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described driver hands-off detection method.

[0099] This embodiment also provides a computer program that, when executed, implements the above-described method for detecting driver hands-off operation.

[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0101] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0102] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0103] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0104] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0105] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0106] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0107] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for detecting driver hands-off operation, characterized in that, Includes the following steps: Determine whether the vehicle is in the target hands-off detection condition; When the vehicle is in the target hands-off detection condition, at least one current steering wheel operating parameter of the vehicle is acquired; The target torque value of the steering wheel is calculated using the at least one current steering wheel operating parameter, and the driver's current hand force value is determined based on the target torque value, so as to obtain the driver's hands-off detection result based on the current hand force value; The calculation of the target torque value of the steering wheel using the at least one current steering wheel operating parameter includes: The current heading angle of the vehicle is calculated based on the yaw rate signal of the vehicle, and the corresponding second torque value is matched in the second torque calibration table according to the current heading angle. The geomagnetic torque of the vehicle is determined based on the second torque value, and the target torque value is obtained from the geomagnetic torque. The step of matching the corresponding second torque value in the second torque calibration table according to the current heading angle includes: Determine whether the vehicle's steering wheel angle signal, steering wheel speed signal, yaw rate signal, and steering wheel torque all meet the preset calibration update conditions; If the preset calibration update conditions are met, the second torque calibration table is updated based on the steering wheel torque, and the updated second torque calibration table is used to match the second torque value.

2. The method according to claim 1, characterized in that, The calculation of the target torque value of the steering wheel using the at least one current steering wheel operating parameter includes: The angular acceleration of the steering wheel is calculated from the steering wheel rotation speed signal of the vehicle, and the moment of inertia torque of the steering wheel is obtained based on the angular acceleration; The steering wheel torque of the vehicle is obtained, and the steering wheel torque and the moment of inertia torque are phase-aligned based on a preset phase delay time. The target torque value is obtained based on the phase-aligned moment of inertia torque and steering wheel torque.

3. The method according to claim 2, characterized in that, The calculation of the target torque value of the steering wheel using the at least one current steering wheel operating parameter includes: Confirm the speed value and direction of the steering wheel speed signal, and match the corresponding first torque value in the first torque calibration table based on the speed value; The friction and damping torque of the steering wheel are determined based on the rotation direction and the first torque value, and the target torque value is obtained from the friction and damping torque.

4. The method according to claim 1, characterized in that, The step of obtaining the driver's hands-off detection result based on the current hand force value includes: If the current hand force value and the duration of the current hand force value meet the preset verification conditions, it is detected whether the vehicle meets the preset latch update conditions; If the vehicle meets the preset latch update conditions, the release detection result is updated according to the current hand force value and the duration; otherwise, the release detection result is obtained based on the vehicle's historical latch state.

5. A driver hands-off detection device, characterized in that, A method for detecting driver hands-off operation as described in any one of claims 1-4, comprising: The judgment module is used to determine whether the vehicle is in the target hands-off detection condition; The acquisition module is used to acquire at least one current steering wheel operating parameter of the vehicle when the vehicle is in the target hands-off detection condition; The detection module is used to calculate the target torque value of the steering wheel using the at least one current steering wheel operating parameter, determine the driver's current hand force value based on the target torque value, and obtain the driver's hands-off detection result based on the current hand force value.

6. The apparatus according to claim 5, characterized in that, The detection module includes: The calculation unit is used to calculate the angular acceleration of the steering wheel from the steering wheel rotation speed signal of the vehicle, and to obtain the moment of inertia torque of the steering wheel based on the angular acceleration; The acquisition unit is used to acquire the steering wheel torque of the vehicle, and perform phase alignment of the steering wheel torque and the moment of inertia torque based on a preset phase delay time, and obtain the target torque value based on the phase-aligned moment of inertia torque and steering wheel torque.

7. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the driver hands-off detection method as described in any one of claims 1-4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the driver hands-off detection method as described in any one of claims 1-4.

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