Hand-leaving detection method, controller and HOD system

Abstract

The embodiment of the invention provides a hand leaving detection method, a controller and an HOD system. The method comprises the steps of firstly obtaining a first induction value and a second induction value, determining the number of first fingers according to the first induction value, determining the number of second fingers according to the second induction value, and finally determining the holding state of a hand on a steering wheel according to the number of the first fingers and the number of the second fingers. Therefore, according to the hand-leaving detection method, the touch state of at least two areas is detected on the steering wheel, the touch posture and touch force of the hand on the steering wheel are detected more accurately, misjudgment caused by mistaken touch or non-driving related hand actions is reduced, and the reliability of a system is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of assisted driving technology, and more particularly to a hands-off detection method, a controller, and an HOD system. Background Art

[0002] The hands off detection (HOD) function is an important technology in the advanced driving assistance system (ADAS) of automobiles. It is used to detect whether the driver's hands have left the steering wheel to improve driving safety.

[0003] The current hands-off detection method can only monitor whether the human hands are on the steering wheel. It cannot accurately detect whether the human hands are touching or gripping the steering wheel, nor can it detect the specific touch posture and touch strength of the human hands on the steering wheel. If the driver makes an accidental touch or non-driving related hand movement, it may easily lead to misjudgment of the autonomous driving system, which in turn affects the accuracy and safety of the system. Summary of the invention

[0004] The embodiments of the present application aim to provide a hands-off detection method, a controller and an HOD system, which can accurately detect the touch state of a human hand on a steering wheel.

[0005] To solve the above technical problems, the present application provides the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a hand-off detection method, the method comprising:

[0007] At least a first sensing value and a second sensing value are obtained, wherein the first sensing value is a sensing value when a human hand is holding a first sensing area, and the second sensing value is a sensing value when a human hand is holding a second sensing area, and the first sensing area and the second sensing area are separately arranged on the steering wheel;

[0008] Determine the number of first fingers according to the first sensing value, and determine the number of second fingers according to the second sensing value, wherein the first number of fingers is the number of fingers held in the first sensing area, and the second number of fingers is the number of fingers held in the second sensing area;

[0009] The gripping state of a human hand on the steering wheel is determined according to the first number of fingers and the second number of fingers, wherein the gripping state represents a touch posture and a touch strength of the human hand on the steering wheel.

[0010] In some embodiments, determining the number of first fingers according to the first sensing value and determining the number of second fingers according to the second sensing value respectively include:

[0011] If the first sensing value is less than or equal to a first preset threshold, the first number of fingers is determined to be an arbitrary value less than or equal to one; if the first sensing value is greater than the first preset threshold and less than or equal to a second preset threshold, the first number of fingers is determined to be an arbitrary value in the range of (1,4); if the first sensing value is greater than the second preset threshold and less than or equal to a third preset threshold, the first number of fingers is determined to be an arbitrary value greater than or equal to four; and / or

[0012] If the second sensing value is less than or equal to the fourth preset threshold, the second number of fingers is determined to be any value less than or equal to one; if the second sensing value is greater than the fourth preset threshold and less than or equal to the fifth preset threshold, the second number of fingers is determined to be any value in (1,4); if the second sensing value is greater than the fifth preset threshold and less than or equal to the sixth preset threshold, the second number of fingers is determined to be any value greater than or equal to four.

[0013] In some embodiments, determining the gripping state of the steering wheel by a person's hand according to the number of the first fingers and the number of the second fingers includes:

[0014] determining a first touch state of a human hand in the first sensing area according to the first number of fingers, wherein the first touch state represents a touch posture and a touch strength of the human hand in the first sensing area;

[0015] The gripping state of the steering wheel by the human hand is determined according to the first touch state and the second number of fingers.

[0016] In some embodiments, determining the first touch state of the human hand in the first sensing area according to the first number of fingers includes:

[0017] If the first number of fingers is any value less than or equal to one, the first touch state is determined to be an untouched state; if the first number of fingers is any value in (1,4), the first touch state is determined to be an inner light touch; if the first number of fingers is any value greater than or equal to four, the first touch state is determined to be an inner tight grip state.

[0018] In some embodiments, the steering wheel further includes a third sensing area, and the method further includes:

[0019] Acquire a third sensing value, where the third sensing value is a sensing value when a human hand is holding the third sensing area;

[0020] Determining the number of third fingers according to the third sensing value includes:

[0021] If the third sensing value is less than or equal to the seventh preset threshold, the third finger number is determined to be any value less than or equal to one; if the third sensing value is greater than the seventh preset threshold and less than or equal to the eighth preset threshold, the third finger number is determined to be any value in (1,4); if the third sensing value is greater than the eighth preset threshold and less than or equal to the ninth preset threshold, the third finger number is determined to be any value greater than or equal to four;

[0022] Wherein, the third finger number is the number of fingers holding in the third sensing area;

[0023] Determining the holding state of the steering wheel by the human hand according to the first touch state and the second finger number includes: determining the holding state of the steering wheel by the human hand according to the first touch state, the second finger number and the third finger number.

[0024] In some embodiments, determining the holding state of the steering wheel by the human hand according to the first touch state, the number of the second fingers, and the number of the third fingers includes:

[0025] When the first touch state is the untouched state, and the second finger number is any value less than or equal to one, if the third finger number is any value less than or equal to one, the holding state is determined to be the untouched state, if the third finger number is any value in (1,4), the holding state is determined to be the right-side light touch state, and if the third finger number is any value greater than or equal to four, the holding state is determined to be the right-side light grip state;

[0026] When the first touch state is an untouched state and the second finger number is any value in the range of (1, 4), if the third finger number is any value less than or equal to one, the holding state is determined to be a left light touch state; if the third finger number is any value in the range of (1, 4), the holding state is determined to be a left and right light touch state; if the third finger number is any value greater than or equal to four, the holding state is determined to be a right light grip state;

[0027] When the first touch state is the untouched state and the second finger number is any value greater than or equal to four, if the third finger number is any value less than four, then the holding state is determined to be the left light holding state; if the third finger number is any value greater than or equal to four, then the holding state is determined to be the left and right light holding state.

[0028] In some embodiments, determining the holding state of the steering wheel by the human hand according to the first touch state, the number of the second fingers, and the number of the third fingers further includes:

[0029] When the first touch state is an inner light touch state, and the second finger number is an arbitrary value less than or equal to one, if the third finger number is an arbitrary value less than or equal to one, the holding state is determined to be an inner light touch state, if the third finger number is an arbitrary value between (1,4), the holding state is determined to be a right light grip state, and if the third finger number is an arbitrary value greater than or equal to four, the holding state is determined to be a right tight grip state;

[0030] When the first touch state is an inner light touch state and the second finger number is any value in the range of (1, 4), if the third finger number is any value less than or equal to one, the holding state is determined to be a left light grip state; if the third finger number is any value in the range of (1, 4), the holding state is determined to be a left and right light grip state; if the third finger number is any value greater than or equal to four, the holding state is determined to be a right tight grip state;

[0031] When the first touch state is an inner light touch state and the second number of fingers is any value greater than or equal to four, if the third number of fingers is any value less than four, then the holding state is determined to be a left tight grip state; if the third number of fingers is any value greater than or equal to four, then the holding state is determined to be a left and right tight grip state.

[0032] In some embodiments, determining the holding state of the steering wheel by the human hand according to the first touch state, the number of the second fingers, and the number of the third fingers further includes:

[0033] When the first touch state is an inner grip state and the second finger number is an arbitrary value less than or equal to one, if the third finger number is an arbitrary value less than or equal to one, the grip state is determined to be a left-right light grip state, and if the third finger number is an arbitrary value greater than one, the grip state is determined to be a right grip state;

[0034] When the first touch state is an inner grip state and the number of the second fingers is any value in the range of (1, 4), if the number of the third fingers is any value less than or equal to one, the grip state is determined to be a left grip state; if the number of the third fingers is any value in the range of (1, 4), the grip state is determined to be a left-right grip state; if the number of the third fingers is any value greater than or equal to four, the grip state is determined to be a right-side grip state;

[0035] When the first touch state is the inner grip state and the second finger number is any value greater than or equal to four, if the third finger number is any value less than four, the grip state is determined to be the left grip state; if the third finger number is any value greater than or equal to four, the grip state is determined to be the left and right grip state.

[0036] In a second aspect, an embodiment of the present application provides a controller, the controller comprising:

[0037] at least one processor; and

[0038] a memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the hand-off detection method as described above.

[0040] In a third aspect, an embodiment of the present application provides a HOD system, the HOD system comprising a steering wheel, a first sensor, a second sensor, a third sensor, and the controller as described above;

[0041] Among them, the first sensor, the second sensor and the third sensor are respectively arranged on the inner side of the steering wheel, the left outer side of the steering wheel and the right outer side of the steering wheel, and the first sensor, the second sensor and the third sensor are respectively connected to the controller. The first sensor is used to detect a first sensing value between a sensor pad in a first sensing area and a human hand, the second sensor is used to detect a second sensing value between a sensor pad in a second sensing area and a human hand, and the third sensor is used to detect a third sensing value between a sensor pad in a third sensing area and a human hand.

[0042] The beneficial effect of the present application is that compared with the prior art, the embodiment of the present application provides a method for detecting hand-off, which first includes obtaining a first sensing value and a second sensing value, and determining the number of first fingers according to the first sensing value, and determining the number of second fingers according to the second sensing value, and finally determining the holding state of the steering wheel by the human hand according to the number of first fingers and the number of second fingers. Therefore, the hand-off detection method can detect the number of fingers holding the first sensing area and the number of fingers holding the second sensing area to determine the human hand touch state of at least two areas on the steering wheel, and thus determine the human hand holding state of the steering wheel according to the human hand touch state of the at least two areas. The method detects the multi-area touch state of the steering wheel, and more accurately detects the touch posture and touch strength of the human hand on the steering wheel, reduces misjudgments caused by accidental touches or non-driving related hand movements, and improves the reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0044] Figure 1 A schematic diagram of the structure of a HOD system provided in an embodiment of the present application;

[0045] Figure 2 A schematic diagram of the hardware structure of one of the controllers provided in the embodiments of the present application;

[0046] Figure 3 A flowchart of one of the hand-off detection methods provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of one of the directional partitions provided in an embodiment of the present application;

[0048] Figure 5 for Figure 3 Flow chart of step S32;

[0049] Figure 6 for Figure 3 Flow chart of step S33;

[0050] Figure 7 A schematic diagram of the structure of a hands-off detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "connected" to another element, it can be directly connected to the other element, or there can be one or more intermediate elements therebetween. In addition, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0052] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0053] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0054] See also Figure 1 , Figure 1 is a schematic diagram of the structure of a HOD system provided in an embodiment of the present application, such as Figure 1 As shown, the HOD (Hands Off Detection, referred to as HOD) system 100 includes a steering wheel 11, a first sensor 12, a second sensor 13, a third sensor 14 and a controller 15, wherein the first sensor is arranged in a first sensing area, the second sensor is arranged in a second sensing area, and the third sensor is arranged in a third sensing area, and the first sensor, the second sensor and the third sensor are connected to the controller respectively. The HOD system 100 is a driving assistance system for detecting whether the driver holds the steering wheel. In one embodiment, the first sensing area is on the inner side of the steering wheel, the second sensing area is on the left outer side of the steering wheel, and the third sensing area is on the right outer side of the steering wheel. Of course, the positions of the second sensing area and the third sensing area can be interchanged, that is, the second sensing area is on the right outer side of the steering wheel, and the third sensing area is on the left outer side of the steering wheel.

[0055] When the human hand does not hold the steering wheel 11, the sensing value between the steering wheel sensor pad and the human hand is the empty wheel baseline value. Since the sensing value between the steering wheel sensor pad and the human hand when the human hand holds the steering wheel is different from the empty wheel baseline value, the first sensor 11 can be used to detect the first sensing value between the steering wheel sensor pad and the human hand in the first sensing area, the second sensor can detect the second sensing value between the steering wheel sensor pad and the human hand in the second sensing area, and the third sensor can detect the third sensing value between the steering wheel sensor pad and the human hand in the third sensing area. The first sensing value, the second sensing value, and the third sensing value are all transmitted to the controller, and the controller 15 processes and analyzes the multiple sensing values, and detects the touch state of the human hand on the steering wheel in the first sensing area through the change of the first sensing value, detects the touch state of the human hand on the steering wheel in the second sensing area through the change of the second sensing value, and detects the touch state of the human hand on the steering wheel in the third sensing area through the change of the third sensing value.

[0056] In some embodiments, the first sensor, the second sensor, and the third sensor may perform IQ (In-phase Quadrature) modulation processing on the collected first sensing value, the second sensing value, and the third sensing value, respectively, to obtain corresponding IQ sensing values, and then transmit the corresponding IQ sensing values ​​to the controller 15, and the controller 15 processes and analyzes the capacitive IQ values ​​to obtain the human hand touch state at the corresponding position of the steering wheel. In some embodiments, the controller 15 may directly process and analyze the first sensing value, the second sensing value, and the third sensing value to obtain the state of the steering wheel 11.

[0057] In some embodiments, the controller 15 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, a discrete gate or transistor logic, a discrete hardware component, or any combination of these components. In addition, the controller 15 can also be any conventional processor, controller, microcontroller or state machine. The controller 15 can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a DSP, and / or any other such configuration.

[0058] Please also read Figure 2 The controller 15 includes at least one processor 151 (connected via a system bus or other communication methods) Figure 2 The controller 15 may be in the form of a chip.

[0059] Among them, the memory 152 stores instructions that can be executed by the at least one processor 151, and the instructions are executed by the at least one processor 151. The processor 151 is used to provide computing and control capabilities to process test data, for example, to execute any one of the hand-off detection methods provided in the following embodiments of the present application.

[0060] The memory 152, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the hand-off detection method provided in the following embodiments of the present application. The processor 151 can implement the hand-off detection method in any of the following method embodiments by running the non-transient software programs, instructions and modules stored in the memory 152. Specifically, the memory 152 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory 152 may also include a memory remotely arranged relative to the processor 151, and these remote memories may be connected to the processor 151 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0061] The current hands-off detection method can only detect whether the steering wheel is in the state of Hands On or Hands Off, where Hands On means that the person is holding the steering wheel, and vice versa, Hands Off means that the person is not holding the steering wheel. That is, the current hands-off detection method can only monitor whether the person's hands are on the steering wheel, but cannot accurately detect whether the person's hands are touching or holding the steering wheel, nor can it determine whether it is the left hand or the right hand, and it cannot detect the specific touch posture and touch strength of the left or right hand. If the driver makes an accidental touch or non-driving related hand movement, it is easy to cause the automatic driving system to misjudge, thereby affecting the accuracy and safety of the system.

[0062] Based on the above reasons, an embodiment of the present application provides a hands-off detection method, which can more accurately detect the touch status of a person's hand on the steering wheel, reduce misjudgments caused by accidental touches or non-driving related hand movements, and improve the reliability of the system.

[0063] See also Figure 3 , Figure 3 is a flow chart of a method for detecting a hand leaving the hand provided in an embodiment of the present application, such as Figure 3 As shown, the hand-off detection method S300 includes:

[0064] S31, obtaining at least a first sensing value and a second sensing value, wherein the first sensing value is a sensing value when a human hand is holding a first sensing area, and the second sensing value is a sensing value when a human hand is holding a second sensing area, and the first sensing area and the second sensing area are separately arranged on the steering wheel;

[0065] like Figure 4 As shown, the steering wheel in the figure is shown by taking a circular steering wheel as an example, wherein the steering wheel faces the direction of the driver, and the center line L passing through the center point divides the steering wheel into a left area and a right area, and the entire steering wheel can be divided into an inner side and an outer side, the inner side of the steering wheel is area C in the figure, which refers to any position of the inner circle of the steering wheel, and the outer side of the steering wheel refers to any position of the outer circle of the steering wheel. The left outer side of the steering wheel is area A in the figure, which refers to any position of the outer circle of the left area of ​​the steering wheel, and the right outer side of the steering wheel is area B in the figure, which refers to any position of the outer circle of the right area of ​​the steering wheel.

[0066] The first sensor and the second sensor are respectively arranged on the inner side, the left outer side or the right outer side of the steering wheel. The first sensor collects the first sensing value, and the second sensor collects the second sensing value. The first sensing value and the second sensing value are transmitted to the controller for processing and analysis.

[0067] S32, determining the number of first fingers according to the first sensing value, and determining the number of second fingers according to the second sensing value, wherein the first number of fingers is the number of fingers held in the first sensing area, and the second number of fingers is the number of fingers held in the second sensing area;

[0068] The number of fingers holding represents the number of fingers touching the steering wheel. Different numbers of fingers touching the steering wheel generate different sensing values. For example, a first sensing value corresponding to two fingers touching the first sensing area is different from a first sensing value corresponding to three fingers touching the first sensing area. Similarly, a second sensing value corresponding to two fingers touching the second sensing area is different from a second sensing value corresponding to three fingers touching the second sensing area.

[0069] Different numbers of fingers touching the steering wheel also represent the touch strength of the steering wheel. For example, if one finger touches the first sensing area, the touch strength of the first sensing area may be slight; if two or three fingers touch the first sensing area, the touch strength of the first sensing area may be light; if more than four fingers touch the first sensing area, the touch strength of the first sensing area may be tight or heavy.

[0070] Different numbers of fingers touching the steering wheel also represent the touch gesture of the steering wheel. The touch gesture refers to the finger posture of touching the steering wheel. For example, if three fingers or less touch the first sensing area, the touch gesture of the first sensing area can be touching; if four or more fingers touch the first sensing area, the touch gesture of the first sensing area can be gripping.

[0071] Therefore, the number of fingers of the corresponding hand touching the steering wheel is first determined by the sensing value, and then the number of fingers of the hand touching the steering wheel is used to represent the touch posture and touch strength of the steering wheel, thereby determining the touch state of the hand on the steering wheel.

[0072] Furthermore, it is necessary to determine the number of fingers of a person touching the steering wheel according to the comparison result between the sensing value and the corresponding preset threshold value. In the embodiment of the present application, specifically, Figure 5 As shown, step S32 includes:

[0073] S321, if the first sensing value is less than or equal to a first preset threshold, determining the first finger quantity to be an arbitrary value less than or equal to one;

[0074] S322: if the first sensing value is greater than the first preset threshold and less than or equal to the second preset threshold, determine that the first finger quantity is any value in (1, 4);

[0075] S323: If the first sensing value is greater than the second preset threshold and less than or equal to the third preset threshold, determine that the number of the first fingers is any value greater than or equal to four.

[0076] The first preset threshold, the second preset threshold, and the third preset threshold can be obtained by calibration or by empirical value. The number of fingers of a human hand touching the first sensing area is determined by comparing the first sensing value with the first preset threshold, the second preset threshold, and the third preset threshold. If the first sensing value is less than or equal to the first preset threshold, it indicates that the number of fingers touching the first sensing area is ≤1 finger. If the first sensing value is greater than the first preset threshold and less than or equal to the second preset threshold, it indicates that 1 finger < the number of fingers touching the first sensing area <4 fingers. If the first sensing value is greater than the second preset threshold and less than or equal to the third preset threshold, it indicates that the number of fingers touching the first sensing area is ≥4 fingers.

[0077] Similarly, the second number of fingers is determined according to the second sensing value and the corresponding preset threshold, that is, the number of fingers touching the second sensing area is determined. Specifically, if the second sensing value is less than or equal to the fourth preset threshold, the second number of fingers is determined to be an arbitrary value less than or equal to one, if the second sensing value is greater than the fourth preset threshold and less than or equal to the fifth preset threshold, the second number of fingers is determined to be an arbitrary value in (1,4), and if the second sensing value is greater than the fifth preset threshold and less than or equal to the sixth preset threshold, the second number of fingers is determined to be an arbitrary value greater than or equal to four.

[0078] Among them, the fourth preset threshold, the fifth preset threshold and the sixth preset threshold can be obtained by calibration or by empirical value. If the second sensing value is less than or equal to the fourth preset threshold, it indicates that the number of fingers touching the second sensing area is ≤1 finger; if the second sensing value is greater than the fourth preset threshold and less than or equal to the fifth preset threshold, it indicates that 1 finger < the number of fingers touching the second sensing area <4 fingers; if the second sensing value is greater than the fifth preset threshold and less than or equal to the sixth preset threshold, it indicates that the number of fingers touching the second sensing area is ≥4 fingers.

[0079] In some embodiments, the steering wheel further includes a third sensing area, and the method further includes:

[0080] Acquire a third sensing value, where the third sensing value is a sensing value when a human hand is holding the third sensing area;

[0081] Determining the number of third fingers according to the third sensing value includes:

[0082] If the third sensing value is less than or equal to the seventh preset threshold, the third number of fingers is determined to be an arbitrary value less than or equal to one; if the third sensing value is greater than the seventh preset threshold and less than or equal to the eighth preset threshold, the third number of fingers is determined to be an arbitrary value in (1,4); if the third sensing value is greater than the eighth preset threshold and less than or equal to the ninth preset threshold, the third number of fingers is determined to be an arbitrary value greater than or equal to four; wherein the third number of fingers is the number of human fingers in the third sensing area.

[0083] Specifically, the number of third fingers can be determined according to the third sensing value and the corresponding preset threshold, that is, the number of fingers touching the third sensing area can be determined. Specifically, if the third sensing value is less than or equal to the seventh preset threshold, the number of third fingers is determined to be any value less than or equal to one, if the third sensing value is greater than the seventh preset threshold and less than or equal to the eighth preset threshold, the number of third fingers is determined to be any value in (1,4), if the third sensing value is greater than the eighth preset threshold and less than or equal to the ninth preset threshold, the number of third fingers is determined to be any value greater than or equal to four.

[0084] Among them, the seventh preset threshold, the eighth preset threshold and the ninth preset threshold can be obtained by calibration or by empirical value. If the third sensing value is less than or equal to the seventh preset threshold, it indicates that the number of fingers touching the third sensing area is ≤1 finger; if the third sensing value is greater than the seventh preset threshold and less than or equal to the eighth preset threshold, it indicates that 1 finger < the number of fingers touching the third sensing area <4 fingers; if the third sensing value is greater than the eighth preset threshold and less than or equal to the ninth preset threshold, it indicates that the number of fingers touching the third sensing area is ≥4 fingers.

[0085] S33. Determine a gripping state of a human hand on the steering wheel according to the number of fingers gripping the first sensing area and the second sensing area, wherein the gripping state represents a touch posture and a touch strength of the human hand on the steering wheel.

[0086] In the embodiment of the present application, the finger touch status of the corresponding area is determined by detecting the number of finger touches in at least two areas (the first sensing area and the second sensing area). In the embodiment of the present application, the first sensing area is set to the inside of the steering wheel, and the second sensing area is set to the left or right side of the steering wheel. The touch status of the human hand on the inside of the steering wheel is first determined, and on this basis, the touch status of the human hand on the left or right side of the steering wheel is judged. This can reduce the redundant judgment part, more accurately and effectively feedback the touch status, and is more closely approaching the user's usage habits.

[0087] Specifically, Figure 6 As shown, step S33 includes:

[0088] S331, determining a first touch state of a human hand on a first sensing area according to the first number of fingers, wherein the first touch state represents a touch posture and a touch strength of the human hand on the first sensing area;

[0089] Different numbers of first fingers correspond to different touch postures and touch strengths of the human hand on the first sensing area. Specifically, if the first number of fingers is any value less than or equal to one, the first touch state is determined to be an untouched state, which may mean that the driver does not fully grasp the steering wheel, or the grip is not stable enough. When driving, the correct way to hold is to use both hands to hold the steering wheel at approximately 9 o'clock and 3 o'clock to ensure that you can respond quickly in an emergency. At this time, it is necessary to judge the user or driver's touch on the outside to remind the user or driver to adjust the grip to ensure safe driving.

[0090] If the first number of fingers is any value in (1,4), the first touch state is determined to be a slight inner touch, which means that the user or driver has touched the steering wheel, indicating that the driver has a certain degree of control, but whether the user can take over the steering wheel requires further confirmation of the grip strength in other areas. For example, if it is a slight touch, it indicates that the grip strength is small, which may affect the quick response and control of the steering wheel in an emergency. Therefore, under the premise of a slight inner touch, if the grip strength on the left side is a tight grip or the grip strength on the right side is a tight grip, it indicates that the driver's palm must have grasped the steering wheel and the driver can take over the steering wheel.

[0091] If the first number of fingers is any value greater than or equal to four, the first touch state is determined to be an inner grip state, indicating that the driver is ready to take over the steering wheel. At this time, it is necessary to judge the touch state of the left or right side. If the driver touches the left or right side, it indicates that the user can definitely take over the steering wheel at this time and is in a grip state.

[0092] Therefore, in the embodiment of the present application, the touch state of the left or right side can be judged based on the touch state of the first sensing area, thereby reducing the combination of judgments and accurately representing the actual touch state and touch strength of the human hand on the steering wheel.

[0093] S332: Determine the holding state of the steering wheel by the human hand according to the first touch state and the number of the second fingers.

[0094] Based on the premise of obtaining the first touch state, the state of the hand holding the steering wheel is divided into three categories. In some embodiments, after determining the first touch state, the number of second fingers is further obtained, specifically:

[0095] Category 1: when the first touch state is an untouched state, the number of second fingers is obtained. When the number of second fingers is any value in (1, 4), the holding state is determined to be a left or right light touch state. If the number of second fingers is any value greater than or equal to four, the holding state is determined to be a left or right light grip state.

[0096] Category 2: When the first touch state is a light inner touch state, the number of second fingers is obtained. When the number of second fingers is any value in (1, 4), the holding state is determined to be a left or right light grip state. If the number of second fingers is any value greater than or equal to four, the holding state is determined to be a left or right tight grip state.

[0097] Category 3: When the first touch state is an inner grip state, the number of second fingers is obtained. When the number of second fingers is any value in (1,4), the grip state is determined to be a left or right grip state. If the second number of fingers is any value greater than or equal to four, the grip state is determined to be a left or right grip state.

[0098] In some other embodiments, the first touch state is obtained as a prerequisite, and then the second finger number and the third finger number are obtained to determine the grip state of the steering wheel by the human hand, and the grip state of the steering wheel by the human hand is divided into three categories. When making a specific judgment, it can be judged based on the larger number of the second finger number and the third finger number. If the second finger number is larger, it is judged as a touch or a tight grip on the left side. If the third finger number is larger, it is judged as a touch or a tight grip on the right side. If the two numbers are the same, it is determined that there is a slight touch on both sides or a light grip on both sides or a tight grip on both sides. Specifically:

[0099] Category 1: when the first touch state is the untouched state, and the number of the second fingers is any value less than or equal to one, if the number of the third fingers is any value less than or equal to one, the holding state is determined to be the untouched state; if the number of the third fingers is any value in (1,4), the holding state is determined to be the right-side light touch state; if the number of the third fingers is any value greater than or equal to four, the holding state is determined to be the right-side light grip state;

[0100] When the first touch state is an untouched state and the second finger number is any value in the range of (1, 4), if the third finger number is any value less than or equal to one, the holding state is determined to be a left light touch state; if the third finger number is any value in the range of (1, 4), the holding state is determined to be a left and right light touch state; if the third finger number is any value greater than or equal to four, the holding state is determined to be a right light grip state;

[0101] When the first touch state is the untouched state and the second finger number is any value greater than or equal to four, if the third finger number is any value less than four, then the holding state is determined to be the left light holding state; if the third finger number is any value greater than or equal to four, then the holding state is determined to be the left and right light holding state.

[0102] Category 2: When the first touch state is an inner light touch state, and the number of the second fingers is any value less than or equal to one, if the number of the third fingers is any value less than or equal to one, the holding state is determined to be an inner light touch state, if the number of the third fingers is any value in (1,4), the holding state is determined to be a right light grip state, and if the number of the third fingers is any value greater than or equal to four, the holding state is determined to be a right tight grip state;

[0103] When the first touch state is an inner light touch state and the second finger number is any value in the range of (1, 4), if the third finger number is any value less than or equal to one, the holding state is determined to be a left light grip state; if the third finger number is any value in the range of (1, 4), the holding state is determined to be a left and right light grip state; if the third finger number is any value greater than or equal to four, the holding state is determined to be a right tight grip state;

[0104] When the first touch state is an inner light touch state and the second number of fingers is any value greater than or equal to four, if the third number of fingers is any value less than four, then the holding state is determined to be a left tight grip state; if the third number of fingers is any value greater than or equal to four, then the holding state is determined to be a left and right tight grip state.

[0105] Category 3: when the first touch state is the inner grip state, and the number of the second fingers is any value less than or equal to one, if the number of the third fingers is any value less than or equal to one, the grip state is determined to be the left and right light grip state, and if the number of the third fingers is any value greater than one, the grip state is determined to be the right grip state;

[0106] When the first touch state is an inner grip state and the number of the second fingers is any value in the range of (1, 4), if the number of the third fingers is any value less than or equal to one, the grip state is determined to be a left grip state; if the number of the third fingers is any value in the range of (1, 4), the grip state is determined to be a left-right grip state; if the number of the third fingers is any value greater than or equal to four, the grip state is determined to be a right-side grip state;

[0107] When the first touch state is the inner grip state and the second finger number is any value greater than or equal to four, if the third finger number is any value less than four, the grip state is determined to be the left grip state; if the third finger number is any value greater than or equal to four, the grip state is determined to be the left and right grip state.

[0108] Therefore, in the embodiment of the present application, the number of fingers in at least two zones can be detected, and the touch state and touch strength of the corresponding zone can be determined according to the number of fingers in each zone, thereby accurately determining the grip state of the steering wheel by the human hand.

[0109] In some embodiments, the controller can determine and output the insulation value according to the grip state, so that the autonomous driving system can determine whether the driver can take over the steering wheel according to the message value. The message value is transmitted to the autonomous driving system or displayed on the tablet in the form of a signal. The name of the signal can be steering wheel touch feedback. The autonomous driving system can analyze the grip state of the steering wheel according to the message value, and then determine whether the driver can take over the steering wheel.

[0110] The corresponding relationship between the holding state and the message value can be shown in Table 1:

[0111] Table 1 Correspondence between holding status and message value

[0112]

[0113] The message value is now combined with the first touch state, the number of second fingers, and the number of third fingers to illustrate the hand-off detection method in the embodiment of the present application.

[0114] If the first touch state is the untouched state, the corresponding relationship between the number of second fingers, the number of third fingers and the message value may be as shown in Table 2:

[0115] Table 2 Correspondence between the number of second fingers, the number of third fingers and the message value

[0116]

[0117] If the first touch state is an inner light touch state, the corresponding relationship between the number of second fingers, the number of third fingers and the message value may be as shown in Table 3:

[0118] Table 3 Correspondence between the number of second fingers, the number of third fingers and the message value

[0119]

[0120] If the first touch state is the inner grip state, the corresponding relationship between the number of second fingers, the number of third fingers and the message value may be as shown in Table 4:

[0121] Table 4 Correspondence between the number of second fingers, the number of third fingers and the message value

[0122]

[0123] To summarize, the hand-off detection method can detect the number of human hand fingers in the first sensing area, the number of human hand fingers in the second sensing area, and the number of human hand fingers in the third sensing area to determine the human hand touch status in the first sensing area, the left outer side, and the right outer side, and thus determine the human hand holding status of the steering wheel according to the human hand touch status in these three areas. This method performs multi-zone touch status detection on the steering wheel to more accurately detect the human hand's touch posture and touch strength of the steering wheel, reduce misjudgment caused by accidental touches or non-driving related hand movements, and improve the reliability of the system.

[0124] It should be noted that in each of the above embodiments, there is not necessarily a certain order between the above steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0125] As another aspect of the embodiment of the present application, the embodiment of the present application provides a hand-off detection device 200. The hand-off detection device 200 may be a software module, which includes several instructions stored in the memory of the controller 15. The processor may access the memory and call the instructions for execution to complete the hand-off detection method described in the above embodiments.

[0126] In some embodiments, the hand-off detection device 200 may also be constructed by hardware devices, for example, the hand-off detection device 200 may be constructed by one or more chips, and the chips may work in coordination with each other to complete the hand-off detection methods described in the above embodiments. For another example, the hand-off detection device 200 may also be constructed by various logic devices, such as a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components.

[0127] See also Figure 7 , Figure 7 An embodiment of the present application provides a hand-off detection device 200 , which includes an acquisition module 21 , a first determination module 22 , and a second determination module 23 .

[0128] The acquisition module 21 is used to acquire at least a first sensing value and a second sensing value, wherein the first sensing value is a sensing value when a human hand holds a first sensing area, and the second sensing value is a sensing value when a human hand holds a second sensing area, and the first sensing area and the second sensing area are separately arranged on the steering wheel;

[0129] The first determination module 22 is used to determine the number of first fingers according to the first sensing value and the number of second fingers according to the second sensing value, wherein the first number of fingers is the number of fingers held in the first sensing area and the second number of fingers is the number of fingers held in the second sensing area;

[0130] The second determination module 23 is used to determine the gripping state of the human hand on the steering wheel according to the first number of fingers and the second number of fingers, wherein the gripping state represents the touching posture and touching strength of the human hand on the steering wheel.

[0131] Therefore, the hands-off detection device detects the touch status of at least two areas of the steering wheel to more accurately detect the touch posture and touch strength of the human hand on the steering wheel, reduce misjudgments caused by accidental touches or non-driving related hand movements, and improve the reliability of the system.

[0132] It should be noted that, since the hand-off detection device and the hand-off detection method in the above embodiment are based on the same application concept, the corresponding contents in the above method embodiment are also applicable to the device embodiment and will not be described in detail here.

[0133] The present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example Figure 2 A processor 151 in the embodiment may enable the one or more processors to execute the hand-off detection method in any of the above method embodiments.

[0134] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by the controller 15, the controller 15 executes any one of the hand-off detection methods described.

[0135] In summary, the hands-off detection device can more accurately detect the touch posture and touch strength of the steering wheel by performing multi-zone touch status detection on the steering wheel, reduce misjudgment caused by accidental touch or non-driving related hand movements, and improve the reliability of the system.

[0136] The above described device or equipment embodiments are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0137] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the hand-off detection method described in each embodiment or some parts of the embodiment.

[0138] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for detecting a hand leaving the hand, characterized in that: The method comprises: At least a first sensing value and a second sensing value are obtained, wherein the first sensing value is a sensing value when a human hand is holding a first sensing area, and the second sensing value is a sensing value when a human hand is holding a second sensing area, and the first sensing area and the second sensing area are separately arranged on the steering wheel; Determine the number of first fingers according to the first sensing value, and determine the number of second fingers according to the second sensing value, wherein the first number of fingers is the number of fingers held in the first sensing area, and the second number of fingers is the number of fingers held in the second sensing area; The gripping state of a human hand on the steering wheel is determined according to the first number of fingers and the second number of fingers, wherein the gripping state represents a touch posture and a touch strength of the human hand on the steering wheel.

2. The method according to claim 1, characterized in that The determining the number of first fingers according to the first sensing value and the determining the number of second fingers according to the second sensing value respectively include: If the first sensing value is less than or equal to a first preset threshold, the first number of fingers is determined to be an arbitrary value less than or equal to one; if the first sensing value is greater than the first preset threshold and less than or equal to a second preset threshold, the first number of fingers is determined to be an arbitrary value in the range of (1,4); if the first sensing value is greater than the second preset threshold and less than or equal to a third preset threshold, the first number of fingers is determined to be an arbitrary value greater than or equal to four; and / or If the second sensing value is less than or equal to the fourth preset threshold, the second number of fingers is determined to be any value less than or equal to one; if the second sensing value is greater than the fourth preset threshold and less than or equal to the fifth preset threshold, the second number of fingers is determined to be any value in (1,4); if the second sensing value is greater than the fifth preset threshold and less than or equal to the sixth preset threshold, the second number of fingers is determined to be any value greater than or equal to four.

3. The method according to claim 2, characterized in that The determining the holding state of the steering wheel by a human hand according to the number of the first fingers and the number of the second fingers includes: determining a first touch state of a human hand in the first sensing area according to the first number of fingers, wherein the first touch state represents a touch posture and a touch strength of the human hand in the first sensing area; The gripping state of the steering wheel by the human hand is determined according to the first touch state and the second number of fingers.

4. The method according to claim 3, characterized in that The determining the first touch state of the human hand in the first sensing area according to the first number of fingers includes: If the first number of fingers is any value less than or equal to one, the first touch state is determined to be an untouched state; if the first number of fingers is any value in (1,4), the first touch state is determined to be an inner light touch; if the first number of fingers is any value greater than or equal to four, the first touch state is determined to be an inner tight grip state.

5. The method according to claim 4, characterized in that The steering wheel further includes a third sensing area, and the method further includes: Acquire a third sensing value, where the third sensing value is a sensing value when a human hand is holding the third sensing area; Determining the number of third fingers according to the third sensing value includes: If the third sensing value is less than or equal to the seventh preset threshold, the third finger number is determined to be any value less than or equal to one; if the third sensing value is greater than the seventh preset threshold and less than or equal to the eighth preset threshold, the third finger number is determined to be any value in (1,4); if the third sensing value is greater than the eighth preset threshold and less than or equal to the ninth preset threshold, the third finger number is determined to be any value greater than or equal to four; Wherein, the third finger number is the number of fingers holding in the third sensing area; Determining the holding state of the steering wheel by the human hand according to the first touch state and the second finger number includes: determining the holding state of the steering wheel by the human hand according to the first touch state, the second finger number and the third finger number.

6. The method according to claim 5, characterized in that The determining the holding state of the steering wheel by the human hand according to the first touch state, the number of the second fingers and the number of the third fingers includes: When the first touch state is the untouched state, and the second finger number is any value less than or equal to one, if the third finger number is any value less than or equal to one, the holding state is determined to be the untouched state, if the third finger number is any value in (1,4), the holding state is determined to be the right-side light touch state, and if the third finger number is any value greater than or equal to four, the holding state is determined to be the right-side light grip state; When the first touch state is an untouched state and the second finger number is any value in the range of (1, 4), if the third finger number is any value less than or equal to one, the holding state is determined to be a left light touch state; if the third finger number is any value in the range of (1, 4), the holding state is determined to be a left and right light touch state; if the third finger number is any value greater than or equal to four, the holding state is determined to be a right light grip state; When the first touch state is the untouched state and the second finger number is any value greater than or equal to four, if the third finger number is any value less than four, then the holding state is determined to be the left light holding state; if the third finger number is any value greater than or equal to four, then the holding state is determined to be the left and right light holding state.

7. The method according to claim 5, characterized in that The determining the holding state of the steering wheel by the human hand according to the first touch state, the number of the second fingers and the number of the third fingers further includes: When the first touch state is an inner light touch state, and the second finger number is an arbitrary value less than or equal to one, if the third finger number is an arbitrary value less than or equal to one, the holding state is determined to be an inner light touch state, if the third finger number is an arbitrary value between (1,4), the holding state is determined to be a right light grip state, and if the third finger number is an arbitrary value greater than or equal to four, the holding state is determined to be a right tight grip state; When the first touch state is an inner light touch state and the second finger number is any value in the range of (1, 4), if the third finger number is any value less than or equal to one, the holding state is determined to be a left light grip state; if the third finger number is any value in the range of (1, 4), the holding state is determined to be a left and right light grip state; if the third finger number is any value greater than or equal to four, the holding state is determined to be a right tight grip state; When the first touch state is an inner light touch state and the second number of fingers is any value greater than or equal to four, if the third number of fingers is any value less than four, then the holding state is determined to be a left tight grip state; if the third number of fingers is any value greater than or equal to four, then the holding state is determined to be a left and right tight grip state.

8. The method according to claim 5, characterized in that The determining the holding state of the steering wheel by the human hand according to the first touch state, the number of the second fingers and the number of the third fingers further includes: When the first touch state is an inner grip state and the second finger number is an arbitrary value less than or equal to one, if the third finger number is an arbitrary value less than or equal to one, the grip state is determined to be a left-right light grip state, and if the third finger number is an arbitrary value greater than one, the grip state is determined to be a right grip state; When the first touch state is an inner grip state and the number of the second fingers is any value in the range of (1, 4), if the number of the third fingers is any value less than or equal to one, the grip state is determined to be a left grip state; if the number of the third fingers is any value in the range of (1, 4), the grip state is determined to be a left-right grip state; if the number of the third fingers is any value greater than or equal to four, the grip state is determined to be a right-side grip state; When the first touch state is the inner grip state and the second finger number is any value greater than or equal to four, if the third finger number is any value less than four, the grip state is determined to be the left grip state; if the third finger number is any value greater than or equal to four, the grip state is determined to be the left and right grip state.

9. A controller, characterized in that: The controller comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the hand-off detection method as described in any one of claims 1-8.

10. A HOD system, characterized in that: The HOD system comprises a steering wheel, a first sensor, a second sensor, a third sensor, and a controller as claimed in claim 9; Among them, the first sensor, the second sensor and the third sensor are respectively arranged on the inner side of the steering wheel, the left outer side of the steering wheel and the right outer side of the steering wheel, and the first sensor, the second sensor and the third sensor are respectively connected to the controller. The first sensor is used to detect a first sensing value between a first sensing area and a human hand, the second sensor is used to detect a second sensing value between a second sensing area and a human hand, and the third sensor is used to detect a third sensing value between a third sensing area and a human hand.

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