Anti-robbery steering wheel control method and device, equipment and medium

Abstract

The invention discloses an anti-robbery steering wheel control method and device, equipment and a medium. The method comprises the following steps: determining a moving distance of each preset key point in an invaded hand based on a preset time interval, and judging whether the moving distance of each preset key point meets a set condition or not; wherein the intruding hand is a hand grabbing a steering wheel; if yes, the rotation direction of a steering wheel is determined according to the overall moving direction of the invaded hand; wherein the overall moving direction is obtained by integrating the moving directions of the preset key points; according to the moving distance of each preset key point, determining the magnitude of the force applied by invading the hand, and according to the magnitude of the force, the radius of the steering wheel and the force application duration, determining the rotation angle of the steering wheel; and the steering wheel is controlled to reversely rotate by the rotation angle within the set time interval according to the rotation direction. According to the technical scheme, the risk that the vehicle is out of control is reduced, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to an anti-stealing steering wheel control method, device, equipment and medium. Background Art

[0002] The steering wheel is a key component for controlling the direction of the vehicle. During normal driving of the vehicle, it is usually required to be controlled only by the driver, and no one other than the driver is allowed to control it. However, traffic accidents have occurred from time to time when the vehicle is driving normally because passengers other than the driver grab the steering wheel.

[0003] In the prior art, when a steering wheel grabbing incident occurs, the vehicle is usually directly controlled to perform emergency braking. Based on this, it is impossible to timely and accurately offset the interference caused by the intruder who grabs the steering wheel to the steering wheel, which can easily cause the vehicle to lose control, posing a great safety hazard. Summary of the invention

[0004] The present invention provides an anti-stealing steering wheel control method, device, equipment and medium, so as to timely and accurately offset the interference of steering wheel rotation caused by a steering wheel snatcher, reduce the risk of vehicle loss of control, and improve the safety of vehicle driving.

[0005] According to one aspect of the present invention, there is provided an anti-grab steering wheel control method, the method comprising:

[0006] Based on a preset time interval, determining the moving distance of each preset key point in the intruding hand, and judging whether the moving distance of each preset key point meets the set conditions; wherein the intruding hand is the hand that grabs the steering wheel;

[0007] If yes, the direction of rotation of the steering wheel is determined according to the overall moving direction of the intruding hand; wherein the overall moving direction is obtained by integrating the moving directions of each preset key point;

[0008] Determine the force of the intruding hand according to the moving distance of each preset key point, and determine the rotation angle of the steering wheel according to the force, the radius of the steering wheel and the duration of the force;

[0009] The steering wheel is controlled to rotate in the reverse direction according to the rotation direction and to rotate the rotation angle within a set time interval.

[0010] According to another aspect of the present invention, there is provided an anti-stealing steering wheel control device, the device comprising:

[0011] A moving distance judgment module, used to determine the moving distance of each preset key point in the intruding hand based on a preset time interval, and to judge whether the moving distance of each preset key point meets a set condition; wherein the intruding hand is a hand that grabs the steering wheel;

[0012] A rotation direction determination module, for determining the rotation direction of the steering wheel according to the overall movement direction of the intruding hand, wherein the overall movement direction is obtained by integrating the movement directions of each preset key point;

[0013] A rotation angle determination module, used to determine the force of the intruding hand according to the moving distance of each preset key point, and determine the rotation angle of the steering wheel according to the force, the steering wheel radius and the force duration;

[0014] The steering wheel rotation control module is used to control the steering wheel to rotate in the opposite direction according to the rotation direction and to achieve the rotation angle within a set time interval.

[0015] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0016] at least one processor; and

[0017] a memory communicatively connected to the at least one processor; wherein,

[0018] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the anti-grab steering wheel control method described in any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the anti-grab steering wheel control method described in any embodiment of the present invention when executed.

[0020] According to another aspect of the present invention, a computer program product is provided, comprising a computer program / instruction, wherein when the computer program / instruction is executed by a processor, the computer program / instruction implements the anti-grab steering wheel control method as described in any embodiment of the present invention.

[0021] The embodiments of the present invention determine the moving distance of each preset key point of the intruding hand that grabs the steering wheel within a preset time interval, and trigger the determination of the steering wheel rotation direction and the force of the intruding hand when the moving distance of each preset key point meets the set conditions, and then determine the steering wheel rotation angle in combination with the corresponding steering wheel radius and the force duration, so that the interference caused by the corresponding intruding hand on the steering wheel rotation can be actively and accurately offset in time, thereby helping to avoid the corresponding interference caused by direct emergency braking when it is determined that the steering wheel is grabbed, causing the vehicle to lose control under sudden braking, thereby helping to maintain stable driving and improve the safety of vehicle driving.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 The flowchart of an anti-stealing steering wheel control method provided according to the first embodiment of the present invention.

[0025] Figure 2 4 is a flow chart of another anti-stealing steering wheel control method provided according to the second embodiment of the present invention.

[0026] Figure 3 Flow chart of another anti-stealing steering wheel control method provided according to Embodiment 3 of the present invention.

[0027] Figure 4 1 is a schematic structural diagram of an anti-stealing steering wheel control device provided according to Embodiment 4 of the present invention.

[0028] Figure 5 It is a schematic diagram of the structure of an electronic device for implementing the anti-stealing steering wheel control method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] Figure 1 This is a flow chart of an anti-snatch steering wheel control method provided by an embodiment of the present invention. This embodiment is applicable to situations where the rotation of the steering wheel is disturbed due to snatching. The method can be executed by an anti-snatch steering wheel control device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. Figure 1 Said method comprises:

[0032] S110. Based on a preset time interval, determine the moving distance of each preset key point in the invading hand, and judge whether the moving distance of each preset key point meets the set conditions; wherein the invading hand is a hand that grabs the steering wheel.

[0033] Among them, the preset time interval can be the time interval between two adjacent operations of determining the moving distance of each preset key point. The duration corresponding to the preset time interval can be limited according to actual needs. The preset key point can be a preset position point on the corresponding position area of ​​each main joint in the intruding hand. The position and number of the preset key point can be set according to needs or experience, for example, the corresponding number can be 21, etc. The setting condition can be a pre-selected reference standard for the moving distance of each preset key point for judging whether the intruding hand exerts force on the steering wheel. The setting condition can be set according to needs or experience, and no specific limitation is made here. The moving distance of each preset key point can be determined according to the starting position and ending position corresponding to each preset key point at the current preset time interval. The starting position can be the position of each preset key point at the starting time corresponding to the current preset time interval, and the starting position can be determined according to the image data of the steering wheel area corresponding to each preset key point at the starting time. The ending position can be the position of each preset key point at the ending time corresponding to the current preset time interval, and the ending position can be determined according to the image data of the steering wheel area corresponding to each preset key point at the ending time.

[0034] Specifically, after determining that there is an intruding hand on the steering wheel, the moving distance of each preset key point in the intruding hand can be determined at each preset time interval according to the starting position and the ending position corresponding to the current preset time interval. Accordingly, a first mapping relationship database between different starting positions, different ending positions and moving distances of each preset key point can be pre-established. When determining the starting position and the ending position corresponding to each preset key point, the first mapping relationship database can be traversed and matched, and the matched corresponding moving distance can be used as the moving distance of each preset key point in the intruding hand.

[0035] S120: If yes, determining the rotation direction of the steering wheel according to the overall movement direction of the intruding hand; wherein the overall movement direction is obtained by integrating the movement directions of each preset key point;

[0036] The rotation direction of the steering wheel may include clockwise and counterclockwise directions, etc. The moving direction of each preset key point may be determined according to the starting position and the ending position of each preset key point corresponding to the current preset time interval. The overall moving direction may be a unique direction obtained by aggregating the moving directions of each preset key point, which may be used to characterize the overall moving direction of the corresponding intruding hand.

[0037] Specifically, a second mapping relationship database between different overall moving directions and different rotation directions can be pre-established. Accordingly, after determining the overall moving direction of the corresponding intruding hand, the second mapping relationship database can be traversed and matched, and the matched corresponding rotation direction can be used as the rotation direction of the steering wheel. It should be noted that if it is determined that the moving distance of each preset key point does not meet the set conditions, it can be indicated that the intruding hand has not exerted force on the steering wheel, and the steering wheel can be refused to be controlled.

[0038] S130, determining the force of the intruding hand according to the moving distance of each preset key point, and determining the rotation angle of the steering wheel according to the force, the steering wheel radius and the force duration;

[0039] The duration of the force application may be the same as the time period corresponding to the preset time interval.

[0040] Specifically, a third mapping relationship database between different moving distances and different force magnitudes of each preset key point can be pre-established. Accordingly, after determining the moving distance of each preset key point, the third mapping relationship database can be traversed and matched, and the matched force magnitude can be used as the force magnitude of the corresponding intruding hand. A third mapping relationship database between different force magnitudes, steering wheel radius, force duration, and rotation angle can also be pre-established. Accordingly, when determining the force magnitude, force duration, and corresponding steering wheel radius of the intruding hand, the fourth mapping relationship database can be traversed and matched, and the matched rotation angle can be used as the rotation angle of the corresponding steering wheel.

[0041] S140, controlling the steering wheel to rotate in the opposite direction according to the rotation direction within a set time interval.

[0042] The duration corresponding to the set time interval may be the same as the duration corresponding to the corresponding preset time interval.

[0043] Specifically, after determining the rotation direction and rotation angle of the steering wheel corresponding to the force exerted by the intruding hand, the steering wheel can be controlled to rotate the rotation angle in the opposite direction of the rotation direction to offset the interference of the intruding hand on the steering wheel.

[0044] The embodiments of the present invention determine the moving distance of each preset key point of the intruding hand that grabs the steering wheel within a preset time interval, and trigger the determination of the steering wheel rotation direction and the force of the intruding hand when the moving distance of each preset key point meets the set conditions, and then determine the steering wheel rotation angle in combination with the corresponding steering wheel radius and the force duration, so that the interference caused by the corresponding intruding hand on the steering wheel rotation can be actively and accurately offset in time, thereby helping to avoid the corresponding interference caused by direct emergency braking when it is determined that the steering wheel is grabbed, causing the vehicle to lose control under sudden braking, thereby helping to maintain stable driving and improve the safety of vehicle driving.

[0045] Figure 2 This is a flow chart of a steering wheel control method for preventing snatching provided in the second embodiment of the present invention. This embodiment is further optimized based on the above embodiments. It should be noted that for the parts not described in detail in this embodiment, please refer to the relevant descriptions in other embodiments.

[0046] Further, “determine the rotation direction of the steering wheel according to the overall moving direction of the intruding hand” is refined into “determine the first tangent and the second tangent at the intersection according to the intersection of the intruding hand and the outer edge of the steering wheel; wherein the directions of the first tangent and the second tangent are opposite; determine the first angle between the overall moving direction and the first tangent direction, and determine the second angle between the overall moving direction and the second tangent direction; use the tangent direction corresponding to the angle between the first angle and the second angle that is less than a right angle as the target tangent direction, and use the rotation direction corresponding to the target tangent direction as the rotation direction of the steering wheel” to improve the steering wheel rotation direction determination mechanism.

[0047] refer to Figure 2 , the method specifically comprises the following steps:

[0048] S210. Based on a preset time interval, determine the moving distance of each preset key point in the invading hand, and judge whether the moving distance of each preset key point meets the set conditions; wherein the invading hand is a hand that grabs the steering wheel.

[0049] Exemplarily, the preset time interval may correspond to a start time and an end time; accordingly, determining the moving distance of each preset key point in the intruding hand and judging whether the moving distance of each preset key point meets the set conditions may include:

[0050] Determine the first image data of the steering wheel area corresponding to the start time and the second image data of the steering wheel area corresponding to the end time; construct a fixed coordinate system for the image data corresponding to the steering wheel area, and determine the first coordinates of each preset key point in the first image data and the second coordinates of each preset key point in the second image data; determine the moving distance of each preset key point according to the first coordinate and the second coordinate of each preset key point, and compare the moving distance of each preset key point with a preset distance threshold; if the proportion of the number of preset key points whose moving distance is greater than the preset distance threshold to the total number of corresponding preset key points is not less than a set proportion, determine that the moving distance of each preset key point meets the set condition.

[0051] Among them, the fixed coordinate system can be a coordinate system constructed with any point in the image corresponding to the steering wheel area as the origin. The origin of the fixed coordinate system can remain unchanged as the position of each preset key point changes. The origin can be, for example, the vertex at the lower right corner of the image corresponding to the steering wheel area or the center point of the image, etc., and no specific restrictions are made here. The image data of the steering wheel area can be collected by an image acquisition device set at a specified position. The image data of the steering wheel area can be an image covering the steering wheel position. The image can include at least a steering wheel, a driver's hand, and an intruding hand. The specified position can be selected according to needs and experience, for example, it can be the position of the A-pillar in the vehicle. The positions of each preset key point at different times can be different. The preset distance threshold can be pre-set according to needs or experience.

[0052] Specifically, after determining the first coordinate and the second coordinate of each preset key point, the distance between the first coordinate and the second coordinate can be calculated based on the horizontal coordinate and the vertical coordinate corresponding to the first coordinate, and the horizontal coordinate and the vertical coordinate corresponding to the second coordinate, and the distance can be used as the moving distance of the corresponding preset key point.

[0053] It can be understood that by establishing a fixed coordinate system for the image data corresponding to the steering wheel area, the corresponding moving distance can be calculated according to the specific coordinates of each preset key point corresponding to the start time and the end time at the current preset time interval, thereby eliminating the need to pre-establish a database of mapping relationships between the starting position, the end position and the moving distance corresponding to each preset key point, thereby simplifying the process of determining the corresponding moving distance, helping to improve the efficiency of determining the moving distance of each preset key point, and by setting the condition that the number of preset key points whose moving distance is greater than the preset distance threshold accounts for a ratio of not less than the set ratio to the total number of corresponding preset key points, it helps to avoid the situation where the intruding hand is judged to be exerting force on the steering wheel and interference cancellation is performed when the intruding hand is slightly shaking but not exerting force, thereby reducing the waste of computing resources and also helping to reduce the risk of vehicle loss of control due to excessive intervention in the steering wheel.

[0054] S220: If yes, determine a first tangent and a second tangent at the intersection according to the intersection of the intruding hand and the outer edge of the steering wheel; wherein the directions of the first tangent and the second tangent are opposite.

[0055] The shape formed by the outer edge of the steering wheel may be a circle. The intersection point may be an intersection point formed by the intruding hand and the circle formed by the outer edge of the steering wheel. The first tangent line and the second tangent line may be tangent lines of the circle formed by the outer edge of the steering wheel at the corresponding intersection point, and the first tangent line and the second tangent line may intersect at the intersection point.

[0056] S230, determining a first angle between the overall moving direction and the first tangent direction, and determining a second angle between the overall moving direction and the second tangent direction; wherein the overall moving direction is obtained by integrating the moving directions of each preset key point.

[0057] The first tangent direction may be the direction indicated by the corresponding intersection along the first tangent, and the second tangent direction may be the direction indicated by the corresponding intersection along the second tangent. The first tangent direction may correspond to the clockwise direction or the counterclockwise direction. When the first tangent direction corresponds to the clockwise direction, the second tangent direction may correspond to the counterclockwise direction, and when the second tangent direction corresponds to the counterclockwise direction, the second tangent direction may correspond to the clockwise direction. The calculation formula corresponding to the first angle and the second angle may be:

[0058]

[0059] in, It can be the direction vector corresponding to the overall movement direction of the intruding hand, It can be the direction vector corresponding to the first tangent direction or the direction vector corresponding to the second tangent direction, and θ can be the first angle or the second angle. When is the direction vector corresponding to the first tangent direction, θ can be the first angle; when When is the direction vector corresponding to the second tangent direction, θ may be the second angle.

[0060] S240. The tangent direction corresponding to the angle smaller than a right angle between the first angle and the second angle is used as the target tangent direction, and the rotation direction corresponding to the target tangent direction is used as the rotation direction of the steering wheel; wherein the overall moving direction is obtained by integrating the moving directions of each preset key point.

[0061] The corresponding tangent directions may include a first tangent direction and a second tangent direction, etc.

[0062] S250, determining the force of the invading hand according to the moving distance of each preset key point, and determining the rotation angle of the steering wheel according to the force, the steering wheel radius and the force duration.

[0063] Exemplarily, determining the force of the intruding hand according to the moving distance of each preset key point may include:

[0064] Based on preset rules, the overall moving distance of the invading hand is determined according to the moving distances of the preset key points; and the product of the overall moving distance and the preset proportional coefficient is used as the force exerted by the invading hand.

[0065] Among them, the preset rule can be to use the largest moving distance among the moving distances of the preset key points as the overall moving distance of the invading hand, or the average moving distance of the preset key points as the overall moving distance of the invading hand, etc. The preset rule can be set according to experience or needs, and is not specifically limited here. The preset proportional coefficient can be a proportional value set according to needs or experience. The calculation formula for the corresponding force of the invading hand can be:

[0066] F≈k·d

[0067] Among them, F can be the force of the invading hand, k can be a preset proportional coefficient, and d can be the overall moving distance of the invading hand.

[0068] It can be understood that by setting the corresponding preset proportional coefficient and taking the product of the overall moving distance and the preset proportional coefficient as the corresponding force size, there is no need to pre-establish a mapping relationship database between different moving distances and force sizes, thereby simplifying the process of determining the corresponding force size of the invading hand, thereby improving the efficiency of determining the corresponding small force hit, and also helping to improve the execution efficiency of the corresponding interference cancellation process.

[0069] Exemplarily, determining the rotation angle of the steering wheel according to the force magnitude, the steering wheel radius, and the force duration may include:

[0070] The force magnitude and the steering wheel radius are multiplied to obtain the torque corresponding to the force exerted by the intruding hand; the angular acceleration of the steering wheel is determined according to the rotational inertia of the steering wheel and the torque; and the rotation angle of the steering wheel is determined according to the angular acceleration and the force duration.

[0071] The duration of the force application duration may be the same as the duration of the preset time interval. The calculation formula for the corresponding torque may be:

[0072] τ=r×F

[0073] Among them, τ can be the corresponding torque, r can be the steering wheel radius, and F can be the corresponding force size.

[0074] Specifically, a correspondence between different moments of inertia, torques, and angular accelerations can be pre-established. Accordingly, when determining the moment of inertia of the steering wheel and the corresponding torque, the correspondence can be matched, and the corresponding angular acceleration matched can be used as the angular acceleration of the steering wheel. A mapping relationship between different angular accelerations, preset time intervals, and rotation angles can also be pre-established. Accordingly, when determining the angular acceleration of the steering wheel and the preset time interval, the mapping relationship can be matched, and the corresponding rotation angle matched can be used as the rotation angle of the steering wheel.

[0075] In an optional embodiment, the corresponding angular acceleration may be the ratio of the torque to the moment of inertia, and the specific calculation formula may be:

[0076]

[0077] Wherein, α may be the angular acceleration of the steering wheel, and I may be the moment of inertia of the steering wheel.

[0078] In an optional embodiment, the calculation formula of the steering wheel rotation angle may be:

[0079]

[0080] Wherein, θ1 may be the rotation angle of the steering wheel, and t may be the duration of the force application.

[0081] It can be understood that, through the force size and the steering wheel radius, the torque corresponding to the force exerted by the intruding hand is first determined, and then the angular acceleration of the corresponding steering wheel is determined according to the moment of inertia and the torque. Finally, the steering wheel rotation angle is determined according to the angular acceleration and the force duration, so that the determination process of the corresponding steering wheel rotation angle is further refined, which helps to improve the accuracy of the determined corresponding rotation angle.

[0082] S260: Control the steering wheel to rotate in the opposite direction according to the rotation direction within a set time interval.

[0083] In an embodiment of the present invention, by determining the first tangent and the second tangent at the intersection of the intruding hand and the outer edge of the steering wheel, and according to the size relationship between the corresponding first angle and the second angle and the right angle, the target tangent direction is further determined and the steering wheel rotation direction is determined based on this, thereby eliminating the need to pre-establish a mapping relationship database between different overall moving directions and steering wheel rotation directions, and thus, when determining the corresponding steering wheel rotation direction, there is no need to traverse and match the corresponding mapping relationship database, thereby simplifying the process of determining the corresponding rotation direction. At the same time, since it further determines the corresponding steering wheel rotation direction by utilizing the real-time correlation between the tangent at the intersection of the current intruding hand and the outer edge of the steering wheel and the corresponding overall moving direction, it also helps to improve the accuracy and reliability of the determined corresponding steering wheel rotation direction.

[0084] Figure 3 This is a flow chart of a steering wheel control method for preventing snatching provided by Embodiment 3 of the present invention. This embodiment is further optimized based on the above embodiments. It should be noted that for the parts not described in detail in this embodiment, please refer to the relevant descriptions in other embodiments.

[0085] Furthermore, before determining the moving distance of each preset key point in the intruding hand based on a preset time interval, the following is added: "Acquiring real-time image data of the steering wheel area through an image acquisition device at a preset position; performing a preprocessing operation on the real-time image data based on a preset image processing algorithm; wherein the preprocessing operation includes at least one of filtering processing, denoising processing and grayscale processing; segmenting the preprocessed real-time image data based on a preset image segmentation algorithm; wherein the segmented image data includes a steering wheel, a hand area and other areas; identifying the segmented image data to determine whether there is an intruding hand in the segmented image data; if so, determining the position of the intruding hand on the steering wheel, and triggering the execution of determining the moving distance of each preset key point in the intruding hand based on a preset time interval.", so as to achieve accurate judgment of the presence of an intruding hand on the steering wheel and improve the timeliness of the corresponding interference cancellation.

[0086] refer to Figure 3 , the method specifically comprises the following steps:

[0087] S310: Acquire real-time image data of the steering wheel area through an image acquisition device at a preset position.

[0088] The preset position may be the above-mentioned designated position in the vehicle. The image acquisition device may be a high-precision camera device, etc. The real-time image data may be image data of the steering wheel area actually acquired.

[0089] S320. Based on a preset image processing algorithm, perform a preprocessing operation on the real-time image data; wherein the preprocessing operation includes at least one of filtering processing, denoising processing and grayscale processing.

[0090] S330. Segment the preprocessed real-time image data based on a preset image segmentation algorithm; wherein the segmented image data includes a steering wheel, a hand area, and other areas.

[0091] The hand area may include at least the driver's hand and the intruding hand. The image segmentation algorithm may be a U-Net algorithm or a DeepLab algorithm.

[0092] S340: Identify the segmented image data to determine whether there is an intruding hand in the segmented image data.

[0093] Specifically, the segmented image data can be input into a pre-trained model to output a determination result of whether there is a corresponding intrusion of the hand. The pre-trained model can be a neural network model, a machine learning model, etc.

[0094] Exemplarily, identifying the segmented image data to determine whether there is an intruding hand in the segmented image data may include:

[0095] Based on a preset image recognition algorithm, the number of hands on the steering wheel in the segmented image data is determined; if it is determined that there is a single hand on the steering wheel, it is determined that there is no intruding hand and the current driver is reminded to drive with both hands; if it is determined that there are two hands on the steering wheel, it is determined that there is no intruding hand and the current driver is driving normally; if it is determined that the number of hands on the steering wheel is not less than three, it is determined that there is an intruding hand.

[0096] The preset image recognition algorithm can be selected as needed and is not specifically limited here.

[0097] It can be understood that by identifying the number of hands in the steering wheel, it is possible to detect whether there are intruding hands simply through the interaction between the hands and the steering wheel, thereby eliminating the need to obtain facial information of the driver and passengers, and providing higher privacy security.

[0098] S350. If yes, determine the position of the intruding hand on the steering wheel, and trigger the execution based on the preset time interval to determine the moving distance of each preset key point in the intruding hand, and judge whether the moving distance of each preset key point meets the set conditions; wherein, the intruding hand is the hand that grabs the steering wheel.

[0099] Specifically, if it is determined that there is no corresponding intruding hand, it can be indicated that the current vehicle is in a normal driving state, and the turning of the steering wheel can be left uninterrupted. If it is determined that there is an intruding hand, each identified hand can be matched with the pre-stored driver's hand information, and each hand that has not been successfully matched can be regarded as the corresponding intruding hand. The pre-stored driver's hand information can be the corresponding driver's hand information stored by the corresponding camera when the vehicle is in a normal driving state, or it can be the hand information pre-registered by the driver through the corresponding image acquisition device, etc.

[0100] S360: If yes, determine the rotation direction of the steering wheel according to the overall movement direction of the intruding hand; wherein the overall movement direction is obtained by integrating the movement directions of each preset key point.

[0101] S370. Determine the force of the invading hand according to the moving distance of each preset key point, and determine the rotation angle of the steering wheel according to the force, the steering wheel radius and the force duration.

[0102] S380, controlling the steering wheel to rotate in the opposite direction according to the rotation direction within a set time interval.

[0103] In an embodiment of the present invention, real-time image data of the steering wheel area is acquired in real time, and after corresponding preprocessing operations and segmentation processing operations are performed on the real-time image data, identification and judgment of whether there is an intruding hand are performed, and after determining the presence of the intruding hand, the position of the intruding hand is further determined, and the execution of related subsequent operations based on a preset time interval to determine the moving distance of each preset key point in the intruding hand is triggered, so that when the corresponding steering wheel is snatched, the relevant information of the corresponding intruding hand can be timely and accurately identified, which helps to actively offset the interference caused by the corresponding intruding hand on the rotation of the steering wheel in a timely manner, thereby reducing the risk of vehicle loss of control due to the snatching of the steering wheel.

[0104] Figure 4The schematic diagram of the structure of an anti-snatching steering wheel control device provided by an embodiment of the present invention is applicable to the situation where the rotation of the steering wheel is disturbed due to snatching. The device can be implemented in the form of hardware and / or software, and the device can be configured in an electronic device. Figure 4 Said device comprises:

[0105] The moving distance judgment module 410 is used to determine the moving distance of each preset key point in the intruding hand based on a preset time interval, and judge whether the moving distance of each preset key point meets the set conditions; wherein the intruding hand is the hand that grabs the steering wheel;

[0106] A rotation direction determination module 420 is used to determine the rotation direction of the steering wheel according to the overall movement direction of the intruding hand; wherein the overall movement direction is obtained by integrating the movement directions of each preset key point;

[0107] A rotation angle determination module 430, for determining the force of the intruding hand according to the moving distance of each preset key point, and determining the rotation angle of the steering wheel according to the force, the steering wheel radius and the force duration;

[0108] The steering wheel rotation control module 440 is used to control the steering wheel to rotate in the opposite direction according to the rotation direction and within a set time interval.

[0109] The embodiments of the present invention determine the moving distance of each preset key point of the intruding hand that grabs the steering wheel within a preset time interval, and trigger the determination of the steering wheel rotation direction and the force of the intruding hand when the moving distance of each preset key point meets the set conditions, and then determine the steering wheel rotation angle in combination with the corresponding steering wheel radius and the force duration, so that the interference caused by the corresponding intruding hand on the steering wheel rotation can be actively and accurately offset in time, thereby helping to avoid the corresponding interference caused by direct emergency braking when it is determined that the steering wheel is grabbed, causing the vehicle to lose control under sudden braking, thereby helping to maintain stable driving and improve the safety of vehicle driving.

[0110] Optionally, the rotation direction determination module 420 may include:

[0111] A tangent determination unit, configured to determine, according to an intersection point between the intruding hand and the outer edge of the steering wheel, a first tangent and a second tangent at the intersection point; wherein the first tangent and the second tangent are in opposite directions;

[0112] An angle determination unit, used to determine a first angle between the overall moving direction and a first tangent direction, and to determine a second angle between the overall moving direction and a second tangent direction;

[0113] The rotation direction determining unit is used to use the tangent direction corresponding to the angle smaller than a right angle between the first angle and the second angle as the target tangent direction, and use the rotation direction corresponding to the target tangent direction as the rotation direction of the steering wheel.

[0114] Optionally, the rotation angle determination module 430 includes:

[0115] An overall moving distance determining unit, configured to determine the overall moving distance of the intruding hand according to the moving distances of the preset key points based on a preset rule;

[0116] The force magnitude determining unit is used to take the product of the overall moving distance and a preset proportional coefficient as the force magnitude of the invading hand.

[0117] Optionally, the rotation angle determination module 430 may include:

[0118] a torque determination unit, configured to multiply the force magnitude and the steering wheel radius to obtain a torque corresponding to the force generated by the intruding hand;

[0119] an angular acceleration determination unit, configured to determine the angular acceleration of the steering wheel according to the moment of inertia of the steering wheel and the torque;

[0120] A rotation angle determination unit is used to determine the rotation angle of the steering wheel according to the angular acceleration and the force application duration.

[0121] Optionally, the preset time interval may correspond to a start time and an end time; accordingly, the moving distance determination module 410 may include:

[0122] An image data determining unit, used to determine first image data of the steering wheel area corresponding to the start time and second image data of the steering wheel area corresponding to the end time;

[0123] a coordinate determination unit, used for constructing a fixed coordinate system under the image data corresponding to the steering wheel area, and determining the first coordinates of each preset key point in the first image data and the second coordinates of each preset key point in the second image data;

[0124] a moving distance comparison unit, configured to determine the moving distance of each preset key point according to the first coordinate and the second coordinate of each preset key point, and compare the moving distance of each preset key point with a preset distance threshold;

[0125] A condition satisfaction determination unit is set, which is used to determine that the moving distance of each preset key point satisfies the set condition if the proportion of the number of preset key points whose moving distance is greater than the preset distance threshold to the total number of corresponding preset key points is not less than a set proportion.

[0126] Optionally, the device may further include:

[0127] A real-time image data acquisition module, used to acquire real-time image data of the steering wheel area through an image acquisition device at a preset position before determining the moving distance of each preset key point in the intruding hand based on a preset time interval;

[0128] A preprocessing operation execution module, used to perform a preprocessing operation on the real-time image data based on a preset image processing algorithm; wherein the preprocessing operation includes at least one of filtering processing, denoising processing and grayscale processing;

[0129] An image segmentation module, used to segment the pre-processed real-time image data based on a preset image segmentation algorithm; wherein the segmented image data includes a steering wheel, a hand area, and other areas;

[0130] An intruding hand existence determination module is used to identify the segmented image data and determine whether there is an intruding hand in the segmented image data;

[0131] The moving distance determination trigger module is used to determine the position of the intruding hand on the steering wheel, and trigger the execution of determining the moving distance of each preset key point in the intruding hand based on a preset time interval.

[0132] Optionally, the intrusion hand presence determination module may include:

[0133] a hand quantity determination unit, configured to determine the number of hands on the steering wheel in the segmented image data based on a preset image recognition algorithm;

[0134] A first determination unit is used to determine that there is no intruding hand and remind the current driver to drive with both hands if it is determined that there is a single hand on the steering wheel;

[0135] A second determination unit, configured to determine that there are no intruding hands and the current driver is driving normally if it is determined that there are two hands on the steering wheel;

[0136] The third determination unit is configured to determine the presence of the intruding hand if it is determined that the number of hands on the steering wheel is not less than three.

[0137] The anti-snatch steering wheel control device provided in the embodiment of the present invention can execute any of the anti-snatch steering wheel control methods provided in the embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing each anti-snatch steering wheel control method. For the contents not described in detail in the embodiment of the present invention, reference can be made to the description in any of the anti-snatch steering wheel control methods in the embodiment of the present invention.

[0138] According to an embodiment of the present invention, the present invention also provides an electronic device, a readable storage medium and a computer program product.

[0139] Figure 5 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0140] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0141] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0142] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the anti-grab steering wheel control method.

[0143] In some embodiments, the anti-snatch steering wheel control method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the anti-snatch steering wheel control method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the anti-snatch steering wheel control method in any other appropriate manner (e.g., by means of firmware).

[0144] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0145] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0146] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0147] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0148] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0149] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0150] Artificial intelligence is a discipline that studies how to use computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.). It includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, machine learning / deep learning technology, big data processing technology, knowledge graph technology, and other major directions.

[0151] Cloud computing refers to a technology system that uses network access to elastically scalable shared physical or virtual resource pools. Resources can include servers, operating systems, networks, software, applications, and storage devices, and can be deployed and managed on demand and in a self-service manner. Cloud computing technology can provide efficient and powerful data processing capabilities for technical applications such as artificial intelligence and blockchain, as well as model training.

[0152] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution provided by this disclosure can be achieved, and this document does not limit this.

[0153] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A steering wheel control method for preventing snatching, characterized in that: include: Based on a preset time interval, determining the moving distance of each preset key point in the intruding hand, and judging whether the moving distance of each preset key point meets the set conditions; wherein the intruding hand is the hand that grabs the steering wheel; If yes, the direction of rotation of the steering wheel is determined according to the overall moving direction of the intruding hand; wherein the overall moving direction is obtained by integrating the moving directions of each preset key point; Determine the force of the intruding hand according to the moving distance of each preset key point, and determine the rotation angle of the steering wheel according to the force, the radius of the steering wheel and the duration of the force; The steering wheel is controlled to rotate in the reverse direction according to the rotation direction and to rotate the rotation angle within a set time interval.

2. The method according to claim 1, characterized in that The step of determining the rotation direction of the steering wheel according to the overall movement direction of the intruding hand comprises: According to the intersection point of the intruding hand and the outer edge of the steering wheel, determine a first tangent line and a second tangent line at the intersection point; wherein the directions of the first tangent line and the second tangent line are opposite; Determining a first angle between the overall moving direction and a first tangent direction, and determining a second angle between the overall moving direction and a second tangent direction; The tangent direction corresponding to the angle smaller than a right angle between the first angle and the second angle is used as the target tangent direction, and the rotation direction corresponding to the target tangent direction is used as the rotation direction of the steering wheel.

3. The method according to claim 1, characterized in that: Determining the force of the invading hand according to the moving distance of each preset key point includes: Based on a preset rule, determining the overall moving distance of the intruding hand according to the moving distances of the preset key points; The product of the overall moving distance and the preset proportional coefficient is used as the force exerted by the invading hand.

4. The method according to any one of claims 1 to 3, characterized in that: Determining the rotation angle of the steering wheel according to the force magnitude, the steering wheel radius, and the force duration, includes: Multiplying the magnitude of the force and the radius of the steering wheel to obtain the torque corresponding to the force generated by the intruding hand; determining an angular acceleration of the steering wheel according to the moment of inertia of the steering wheel and the torque; The rotation angle of the steering wheel is determined according to the angular acceleration and the force application duration.

5. The method according to claim 1, characterized in that The preset time interval corresponds to a start time and an end time; accordingly, determining the moving distance of each preset key point in the intruding hand, and judging whether the moving distance of each preset key point meets the set conditions, including: Determine first image data of the steering wheel area corresponding to the start time and second image data of the steering wheel area corresponding to the end time; Constructing a fixed coordinate system under the image data corresponding to the steering wheel area, and determining the first coordinates of each preset key point in the first image data and the second coordinates of each preset key point in the second image data; Determine the moving distance of each preset key point according to the first coordinate and the second coordinate of each preset key point, and compare the moving distance of each preset key point with a preset distance threshold; If the ratio of the number of preset key points whose moving distance is greater than the preset distance threshold to the total number of corresponding preset key points is not less than a set ratio, it is determined that the moving distance of each preset key point meets the set condition.

6. The method according to claim 1, characterized in that Before determining the moving distance of each preset key point in the intruding hand based on the preset time interval, the method further includes: Acquire real-time image data of the steering wheel area through an image acquisition device at a preset position; Based on a preset image processing algorithm, a preprocessing operation is performed on the real-time image data; wherein the preprocessing operation includes at least one of filtering processing, denoising processing and grayscale processing; Based on a preset image segmentation algorithm, the preprocessed real-time image data is segmented; wherein the segmented image data includes a steering wheel, a hand area, and other areas; Identifying the segmented image data to determine whether there is an intruding hand in the segmented image data; If so, the position of the intruding hand on the steering wheel is determined, and a trigger is executed to determine the moving distance of each preset key point in the intruding hand based on a preset time interval.

7. The method according to claim 6, characterized in that Identifying the segmented image data to determine whether there is an intruding hand in the segmented image data includes: Determining the number of hands on the steering wheel in the segmented image data based on a preset image recognition algorithm; If it is determined that there is a single hand on the steering wheel, it is determined that there is no intruding hand and the current driver is reminded to drive with both hands; If it is determined that there are two hands on the steering wheel, it is determined that there is no intruding hand and the current driver is driving normally; If it is determined that the number of hands on the steering wheel is not less than three, it is determined that the intruding hand exists.

8. An anti-snatch steering wheel control device, characterized in that: include: A moving distance judgment module, used to determine the moving distance of each preset key point in the intruding hand based on a preset time interval, and to judge whether the moving distance of each preset key point meets a set condition; wherein the intruding hand is a hand that grabs the steering wheel; A rotation direction determination module, for determining the rotation direction of the steering wheel according to the overall movement direction of the intruding hand, wherein the overall movement direction is obtained by integrating the movement directions of each preset key point; A rotation angle determination module, used to determine the force of the intruding hand according to the moving distance of each preset key point, and determine the rotation angle of the steering wheel according to the force, the steering wheel radius and the force duration; The steering wheel rotation control module is used to control the steering wheel to rotate in the opposite direction according to the rotation direction and to achieve the rotation angle within a set time interval.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the anti-grab steering wheel control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the anti-grab steering wheel control method according to any one of claims 1-7 when executed.

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