Control method and system for actively detecting hand release of steering wheel of driver, electronic equipment and medium

Abstract

The invention discloses a control method and system for actively detecting hand release of a steering wheel of a driver, electronic equipment and a medium. The method comprises the following steps: after ADAS transverse control is activated and a hand release state is activated, active detection is triggered according to hand release time; controlling a steering wheel to actively swing according to steering wheel parameters during active detection; and calculating an active swinging hand moment average value in the active swinging period, and if the active swinging hand moment average value is smaller than an active swinging threshold, alarming to remind a driver to take over a steering wheel. According to the solution scheme of actively controlling the steering wheel to rotate to detect whether the driver slips out of the hand, after transverse function control is activated, the power-assisted motor is actively controlled to carry out hand-slipping detection, hand torque of the driver in the detection period is collected and calculated, the hand torque is compared with a preset threshold value, and the actual hand-slipping state of the driver is determined; and the possibility of active steering wheel rotation burden and missing report of a driver is reduced.

Description

Technical Field

[0001] The present invention relates to the field of automobile intelligent driving technology, and more specifically, to a control method, system, electronic device and medium for actively detecting a driver's hands-off steering wheel. Background Art

[0002] The Advanced Driver Assistance System (ADAS) has not achieved fully autonomous driving and requires the driver to be able to take over the vehicle at any time. The driver's hands on the steering wheel are an indicator that the entire vehicle can be controlled. When it detects that both hands have left the steering wheel for more than a certain period of time, an alarm will be issued to ensure the driver's ability to control the vehicle in the assisted driving state.

[0003] The conventional driver hand torque detection system indirectly monitors the steering wheel control status through a torque sensor. The driver needs to slightly turn the steering wheel to generate the corresponding hand torque information before it can be sensed by the system. Another method uses a capacitive sensor to detect whether the driver's hands are on the steering wheel. The detection area is generally arranged on the left and right sides of the steering wheel and does not cover the entire steering wheel. When the driver's hands do not grip the detection area and the steering wheel is not actively turned for a long time, these two detection methods cannot identify whether the driver's hands are on the steering wheel. There is a detection blind spot, and the ADAS system will miss the recognition, reporting a takeover request that affects the ADAS experience and causes user complaints.

[0004] At present, there is still a need to develop a control method that actively detects the driver's hands off the steering wheel.

[0005] The information disclosed in the background technology section of the present invention is only intended to deepen the understanding of the general background technology of the present invention, and should not be regarded as acknowledging or suggesting in any form that the information constitutes the prior art already known to those skilled in the art. Summary of the invention

[0006] The present invention proposes a control method, system, electronic device and medium for actively detecting whether the driver has taken the hands off the steering wheel. The method can detect whether the driver has taken the hands off the steering wheel by actively controlling the rotation of the steering wheel. After the lateral function control is activated, the power-assist motor is actively controlled to perform hands-off detection, and the driver's hand torque during the detection period is collected and calculated, and compared with a preset threshold to determine the driver's actual hands-off state, thereby reducing the burden of the driver's active steering wheel rotation and the possibility of missed reports.

[0007] In a first aspect, an embodiment of the present disclosure provides a control method for actively detecting a driver's hands-off steering wheel, comprising:

[0008] After activating ADAS lateral control and activating the hands-off state, active detection is triggered based on the hands-off time;

[0009] During active detection, the steering wheel is controlled to swing actively according to the steering wheel parameters;

[0010] The average value of the active swing hand torque is calculated during the active swing period. If it is less than the active swing threshold, an alarm is issued to remind the driver to take over the steering wheel.

[0011] Preferably, after activating the ADAS lateral control and activating the hands-off state, triggering active detection according to the hands-off time includes:

[0012] After activating ADAS lateral control, detect the average hand torque over multiple working cycles;

[0013] If the hand torque average value is less than a preset threshold, the hands-off state is activated and the hands-off timing is performed;

[0014] If the hands-off time reaches a time threshold, active detection is triggered.

[0015] Preferably, the steering wheel parameters are determined according to the vehicle speed and the curvature information of the curved road, and the steering wheel parameters include the frequency, amplitude and period of the steering wheel swing.

[0016] Preferably, if the hands-off time reaches a first time threshold, the first active detection is triggered, and the steering wheel is controlled to perform a first active swing according to the steering wheel parameters; the first hand torque average value is calculated in the first active swing cycle, and if it is less than the first threshold, a first-level alarm is issued to remind the driver to take over the steering wheel.

[0017] Preferably, if the hands-off time reaches a second time threshold, a second active detection is triggered, and the steering wheel is controlled to perform a second active swing according to the steering wheel parameters; the second hand torque average value is calculated in the second active swing cycle, and if it is less than the second threshold, a second-level alarm is issued to remind the driver to take over the steering wheel.

[0018] Preferably, if the hands-off time reaches a third time threshold, a third active detection is triggered, and the steering wheel is controlled to perform a third active swing according to the steering wheel parameters; the third hand torque average value is calculated in the third active swing cycle, and if it is less than the third threshold, a third level alarm is issued to remind the driver to take over the steering wheel.

[0019] Preferably, the first threshold>the second threshold>the third threshold.

[0020] In a second aspect, the embodiment of the present disclosure further provides a control system for actively detecting when a driver takes their hands off the steering wheel, including:

[0021] The intelligent driving system controller calculates the steering wheel parameters according to the data input by the torque sensor and determines the hand torque state according to the hand torque detection value and the preset threshold value;

[0022] The power-assist motor is used to execute the control instructions issued by the intelligent driving system controller and control the steering wheel to swing;

[0023] The torque sensor is used to detect the steering wheel hand torque value and output it to the intelligent driving system controller;

[0024] The human-machine interface HMI is used to receive the hands-off alarm information issued by the intelligent driving system controller to remind the driver to take over the steering wheel.

[0025] In a third aspect, an embodiment of the present disclosure further provides an electronic device, the electronic device comprising:

[0026] A memory storing executable instructions;

[0027] A processor runs the executable instructions in the memory to implement the control method for actively detecting the driver's hands-off steering wheel.

[0028] In a fourth aspect, an embodiment of the present disclosure further provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method for actively detecting the driver's hands leaving the steering wheel.

[0029] The methods and systems of the present invention have other features and advantages that will be apparent from, or will be described in detail in, the accompanying drawings and subsequent detailed descriptions incorporated herein, which together serve to explain the specific principles of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other objects, features and advantages of the present invention will become more apparent through a more detailed description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals generally represent like components throughout the exemplary embodiments of the present invention.

[0031] Figure 1 A flow chart showing the steps of a control method for actively detecting a driver's hands-off steering wheel according to an embodiment of the present invention.

[0032] Figure 2 A schematic diagram showing a control process for actively detecting a driver's hands-off steering wheel according to an embodiment of the present invention is shown.

[0033] Figure 3 A schematic diagram of a control system for actively detecting a driver's hands-off steering wheel according to an embodiment of the present invention is shown.

[0034] Description of reference numerals:

[0035] 1. Intelligent driving system controller ADAS ECU; 2. Power assist motor; 3. Torque sensor; 4. Human-machine interface HMI. DETAILED DESCRIPTION

[0036] The preferred embodiments of the present invention will be described in more detail below. Although the preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0037] To facilitate understanding of the solutions and effects of the embodiments of the present invention, four specific application examples are given below. Those skilled in the art should understand that the examples are only for facilitating understanding of the present invention, and any specific details thereof are not intended to limit the present invention in any way.

[0038] Example 1

[0039] Figure 1 A flow chart showing the steps of a control method for actively detecting a driver's hands-off steering wheel according to an embodiment of the present invention.

[0040] like Figure 1 As shown, the control method for actively detecting the driver's hands-off steering wheel includes:

[0041] Step 101, after activating ADAS lateral control and activating the hands-off state, triggering active detection according to the hands-off time;

[0042] Step 102, during active detection, the steering wheel is controlled to actively swing according to the steering wheel parameters;

[0043] Step 103, calculating the average value of the active swing hand torque during the active swing period, and if it is less than the active swing threshold, an alarm is issued to remind the driver to take over the steering wheel.

[0044] In one example, after activating ADAS lateral control and activating the hands-off state, triggering active detection based on the hands-off time includes:

[0045] After activating ADAS lateral control, detect the average hand torque over multiple working cycles;

[0046] If the average hand torque is less than the preset threshold, the hands-off state is activated and the hands-off timing is performed;

[0047] If the hands-off time reaches the time threshold, active detection is triggered.

[0048] In one example, steering wheel parameters are determined based on vehicle speed and curved road curvature information, and the steering wheel parameters include frequency, amplitude, and period of steering wheel swing.

[0049] In one example, if the hands-off time reaches a first time threshold, the first active detection is triggered, and the steering wheel is controlled to perform a first active swing according to the steering wheel parameters; the first hand torque average value is calculated in the first active swing cycle, and if it is less than the first threshold, a first-level alarm is issued to remind the driver to take over the steering wheel.

[0050] In one example, if the hands-off time reaches a second time threshold, a second active detection is triggered, and the steering wheel is controlled to perform a second active swing according to the steering wheel parameters; the second hand torque average value is calculated during the second active swing cycle, and if it is less than the second threshold, a second level alarm is issued to remind the driver to take over the steering wheel.

[0051] In one example, if the hands-off time reaches a third time threshold, a third active detection is triggered, and the steering wheel is controlled to perform a third active swing according to the steering wheel parameters; the third hand torque average value is calculated in the third active swing cycle, and if it is less than the third threshold, a third level alarm is issued to remind the driver to take over the steering wheel.

[0052] In one example, the first threshold>the second threshold>the third threshold.

[0053] Figure 2 A schematic diagram showing a control process for actively detecting a driver's hands-off steering wheel according to an embodiment of the present invention is shown.

[0054] Specifically, the specific control process of this method is as follows Figure 2 As shown:

[0055] When the driver activates the ADAS lateral control function, the control system detects the average hand torque within n working cycles and compares it with the preset threshold Th. If it is less than the threshold, the hands-off state is activated and the hands-off timing begins.

[0056] When the hands-off time reaches t1, the active detection function is triggered, and the power-assist motor is controlled to swing the steering wheel according to the frequency f1, amplitude a1 and period n1 calculated internally by the ADAS ECU. The average hand torque Tq1 within the n1 period is detected and calculated. If it is less than the preset threshold Th1, a first-level alarm is issued to remind the driver to take over the steering wheel.

[0057] When the hands-off time reaches t2, the active detection function is triggered, and the power-assist motor is controlled to swing the steering wheel according to the frequency f2, amplitude a2 and period n2 calculated internally by the ADAS ECU. The average hand torque Tq2 within the n2 period is detected and calculated. If it is less than the preset threshold Th2, a secondary alarm is issued to remind the driver to take over the steering wheel.

[0058] When the hands-off time reaches t3, the active detection function is triggered, and the power-assist motor is controlled to swing the steering wheel according to the frequency f3, amplitude a3 and period n3 calculated internally by the ADAS ECU. The average hand torque Tq3 within the n3 period is detected and calculated. If it is less than the preset threshold Th3, the ADAS lateral function is exited and the hands-off state of the ADAS ECU is reset. Among them, Th1>Th2>Th3, which increases the sensitivity of detection in turn.

[0059] The present invention can effectively improve the accuracy and safety of the driver's hands-off steering wheel detection, reduce the possibility of missed detection, and greatly reduce the discomfort caused by the driver's active steering wheel turning.

[0060] Example 2

[0061] A control system for actively detecting a driver's hands-off steering wheel, comprising:

[0062] The intelligent driving system controller calculates the steering wheel parameters according to the data input by the torque sensor and determines the hand torque state according to the hand torque detection value and the preset threshold value;

[0063] The power-assist motor is used to execute the control instructions issued by the intelligent driving system controller and control the steering wheel to swing;

[0064] The torque sensor is used to detect the steering wheel hand torque value and output it to the intelligent driving system controller;

[0065] The human-machine interface HMI is used to receive the hands-off alarm information issued by the intelligent driving system controller to remind the driver to take over the steering wheel.

[0066] Figure 3 A schematic diagram of a control system for actively detecting a driver's hands-off steering wheel according to an embodiment of the present invention is shown.

[0067] Specifically, Figure 3 As shown, the system includes:

[0068] The intelligent driving system controller ADAS ECU 1 calculates the frequency f, amplitude a and period n of the active control steering wheel swing according to the vehicle speed and curved road curvature information input by the torque sensor 3, and estimates the driver's hand torque state according to the hand torque detection value Tq and the preset threshold Th;

[0069] The power-assisting motor 2 is used to accurately execute the control instructions issued by the ADAS ECU 1, and control the steering wheel to swing according to the target frequency, amplitude and period.

[0070] The torque sensor 3 is used to detect the magnitude of the steering wheel hand torque value and output the detection value to the ADAS ECU 1 for hand torque calculation;

[0071] The human-machine interface HMI 4 is used to receive the driver's hands-off warning information sent by the ADAS ECU 1, and remind the driver to take over the steering wheel through voice and text.

[0072] Example 3

[0073] The present disclosure provides an electronic device, which includes: a memory storing executable instructions; a processor running the executable instructions in the memory to implement the above-mentioned control method for actively detecting the driver's hands leaving the steering wheel.

[0074] An electronic device according to an embodiment of the present disclosure includes a memory and a processor.

[0075] The memory is used to store non-temporary computer-readable instructions. Specifically, the memory may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may, for example, include random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may, for example, include read-only memory (ROM), hard disk, flash memory, etc.

[0076] The processor may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device to perform desired functions. In one embodiment of the present disclosure, the processor is used to run the computer-readable instructions stored in the memory.

[0077] Those skilled in the art should be able to understand that in order to solve the technical problem of how to obtain a good user experience, the present embodiment may also include well-known structures such as a communication bus and an interface, and these well-known structures should also be included in the protection scope of the present disclosure.

[0078] For detailed description of this embodiment, reference may be made to the corresponding descriptions in the aforementioned embodiments, which will not be repeated here.

[0079] Example 4

[0080] An embodiment of the present disclosure provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the control method for actively detecting a driver's hands-off steering wheel.

[0081] According to the computer-readable storage medium of the embodiment of the present disclosure, non-transitory computer-readable instructions are stored thereon. When the non-transitory computer-readable instructions are executed by a processor, all or part of the steps of the above-mentioned methods of each embodiment of the present disclosure are executed.

[0082] The above-mentioned computer-readable storage media include, but are not limited to: optical storage media (e.g., CD-ROM and DVD), magneto-optical storage media (e.g., MO), magnetic storage media (e.g., magnetic tape or mobile hard disk), media with built-in rewritable non-volatile memory (e.g., memory card) and media with built-in ROM (e.g., ROM box).

[0083] Those skilled in the art should understand that the purpose of the above description of the embodiments of the present invention is only to exemplarily illustrate the beneficial effects of the embodiments of the present invention, and is not intended to limit the embodiments of the present invention to any given examples.

[0084] The embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. A control method for actively detecting a driver's hands-off steering wheel, characterized in that: include: After activating ADAS lateral control and activating the hands-off state, active detection is triggered based on the hands-off time; During active detection, the steering wheel is controlled to swing actively according to the steering wheel parameters; The average value of the active swing hand torque is calculated during the active swing period. If it is less than the active swing threshold, an alarm is issued to remind the driver to take over the steering wheel.

2. The control method for actively detecting the driver's hands-off steering wheel according to claim 1, wherein: After ADAS lateral control is activated and the hands-off state is activated, active detection is triggered according to the hands-off time, including: After activating ADAS lateral control, detect the average hand torque over multiple working cycles; If the hand torque average value is less than a preset threshold, the hands-off state is activated and the hands-off timing is performed; If the hands-off time reaches a time threshold, active detection is triggered.

3. The control method for actively detecting the driver's hands-off steering wheel according to claim 2, wherein: Steering wheel parameters are determined according to the vehicle speed and the curvature information of the curved road, wherein the steering wheel parameters include the frequency, amplitude and period of the steering wheel swing.

4. The control method for actively detecting the driver's hands-off steering wheel according to claim 3, wherein: If the hands-off time reaches a first time threshold, a first active detection is triggered, and the steering wheel is controlled to perform a first active swing according to the steering wheel parameters; the first hand torque average value is calculated in the first active swing cycle, and if it is less than the first threshold, a first-level alarm is issued to remind the driver to take over the steering wheel.

5. The control method for actively detecting the driver's hands-off steering wheel according to claim 4, wherein: If the hands-off time reaches a second time threshold, a second active detection is triggered, and the steering wheel is controlled to perform a second active swing according to the steering wheel parameters; the second hand torque average value is calculated in the second active swing cycle, and if it is less than the second threshold, a second-level alarm is issued to remind the driver to take over the steering wheel.

6. The control method for actively detecting the driver's hands-off steering wheel according to claim 5, wherein: If the hands-off time reaches a third time threshold, the third active detection is triggered, and the steering wheel is controlled to perform a third active swing according to the steering wheel parameters; the third hand torque average value is calculated in the third active swing cycle, and if it is less than the third threshold, a third level alarm is issued to remind the driver to take over the steering wheel.

7. The control method for actively detecting the driver's hands-off steering wheel according to claim 6, wherein: The first threshold>the second threshold>the third threshold.

8. A control system for actively detecting when a driver takes his hands off the steering wheel, characterized in that: include: The intelligent driving system controller calculates the steering wheel parameters according to the data input by the torque sensor and determines the hand torque state according to the hand torque detection value and the preset threshold value; The power-assist motor is used to execute the control instructions issued by the intelligent driving system controller and control the steering wheel to swing; The torque sensor is used to detect the steering wheel hand torque value and output it to the intelligent driving system controller; The human-machine interface HMI is used to receive the hands-off alarm information issued by the intelligent driving system controller to remind the driver to take over the steering wheel.

9. An electronic device, characterized in that: The electronic device comprises: A memory storing executable instructions; A processor, wherein the processor runs the executable instructions in the memory to implement the control method for actively detecting the driver's hands-off steering wheel according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the control method for actively detecting a driver's hands-off steering wheel according to any one of claims 1 to 7.

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