Anti-snatch steering wheel control methods, devices, equipment and media

Abstract

The application discloses a kind of anti-snatching steering wheel control method, device, equipment and medium.The method comprises: based on the preset time interval, the movement distance of each preset key point in the invading hand is determined, and whether the movement distance of each preset key point meets the set condition is judged;Wherein, the invading hand is the hand that snatches steering wheel;If yes, the rotating direction of steering wheel is determined according to the overall movement direction of invading hand;Wherein, the overall movement direction is obtained by integrating the movement direction of each preset key point;The power of invading hand is determined according to the movement distance of each preset key point, and the rotating angle of steering wheel is determined according to the power, the radius of steering wheel and the duration of power;Control steering wheel according to the rotating direction, reverse rotation in the set time interval The rotating angle is described.The above technical solution reduces the risk of vehicle out of control, improves the safety of vehicle driving.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, device, equipment, and medium for preventing the snatching of a steering wheel. Background Technology

[0002] As a key component for controlling vehicle direction, the steering wheel is typically intended to be controlled only by the driver during normal driving, and no one other than the driver is allowed to control it. However, there are frequent traffic accidents caused by passengers other than the driver grabbing the steering wheel while the vehicle is in normal driving.

[0003] In the event of a steering wheel grabbing incident, existing technology typically involves directly controlling the vehicle to apply emergency braking. However, this approach cannot effectively and promptly counteract the interference caused by the intruder's attempts to turn the steering wheel, which can easily lead to loss of vehicle control and pose a significant safety hazard. Summary of the Invention

[0004] This invention provides a steering wheel control method, device, equipment, and medium to prevent steering wheel snatching, thereby timely and accurately counteracting the interference caused by a person snatching the steering wheel, reducing the risk of vehicle loss of control, and improving vehicle driving safety.

[0005] According to one aspect of the present invention, a steering wheel control method for preventing theft is provided, the method comprising:

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

[0007] If so, the rotation direction of the steering wheel is determined based on 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;

[0008] Based on the movement distance of each preset key point, the magnitude of the force exerted by the invading hand is determined, and based on the magnitude of the force, the radius of the steering wheel, and the duration of the force exertion, the rotation angle of the steering wheel is determined.

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

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

[0011] The movement distance determination module is used to determine the movement distance of each preset key point in the intruding hand based on a preset time interval, and to determine whether the movement distance of each preset key point meets the set conditions; wherein, the intruding hand is the hand that grabs the steering wheel;

[0012] The rotation direction determination module is used to determine the rotation direction of the steering wheel based on the overall movement direction of the intruding hand if the condition is met; wherein the overall movement direction is obtained by integrating the movement directions of each preset key point.

[0013] The rotation angle determination module is used to determine the magnitude of the force exerted by the intruding hand based on the moving distance of each preset key point, and to determine the rotation angle of the steering wheel based on the magnitude of the force, the radius of the steering wheel, and the duration of the force exertion.

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

[0015] According to another aspect of the present invention, an electronic device is provided, 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 that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the anti-snatching steering wheel control method according to any embodiment of the present invention.

[0019] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the anti-snatching steering wheel control method according to any embodiment of the present invention.

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

[0021] In this embodiment of the invention, the movement distance of each preset key point in the intruding hand grabbing the steering wheel within a preset time interval is determined. When the movement distance of each preset key point meets the set conditions, the steering wheel rotation direction and the magnitude of the force exerted by the intruding hand are determined. Then, combined with the corresponding steering wheel radius and the duration of the force exertion, the steering wheel rotation angle is determined. This allows for timely and accurate cancellation of the interference caused by the intruding hand on the steering wheel rotation. This helps to avoid situations such as loss of vehicle control caused by sudden braking when the intruding hand grabbing the steering wheel is confirmed, thus helping to maintain stable driving and improve vehicle driving safety.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a steering wheel control method for preventing theft provided according to Embodiment 1 of the present invention.

[0025] Figure 2 This is a flowchart of another anti-snatching steering wheel control method provided in Embodiment 2 of the present invention.

[0026] Figure 3 This is a flowchart of another anti-snatching steering wheel control method provided in Embodiment 3 of the present invention.

[0027] Figure 4 This is a schematic diagram of an anti-snatching steering wheel control device provided in Embodiment 4 of the present invention.

[0028] Figure 5 This is a schematic diagram of the structure of an electronic device that implements the anti-snatching steering wheel control method according to an embodiment of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort 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, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Figure 1 This is a flowchart illustrating an anti-snatching steering wheel control method provided in an embodiment of the present invention. This embodiment is applicable to situations where the rotation of the steering wheel is interfered with by snatching. The method can be executed by an anti-snatching steering wheel control device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 The method includes:

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

[0033] The preset time interval can be the time interval between two consecutive operations determining the movement distance of each preset key point. The duration of this preset time interval can be limited according to actual needs. The preset key points can be preset location points on the corresponding areas of the major joints in the intruding hand. The location and number of these preset key points can be set according to needs or experience; for example, the corresponding number could be 21. The setting conditions can be pre-selected reference standards for judging whether the intruding hand is applying force to the steering wheel based on the movement distance of each preset key point. These setting conditions can be set according to needs or experience and are not specifically limited here. The movement distance of each preset key point can be determined based on the starting and ending positions of each preset key point in the current preset time interval. The starting position can be the position of each preset key point at the starting time of the current preset time interval, which can be determined based on the image data of the steering wheel area corresponding to the starting time of each preset key point. The ending position can be the position of each preset key point at the ending time of the current preset time interval, which can be determined based on the image data of the steering wheel area corresponding to the ending time of each preset key point.

[0034] Specifically, after confirming the presence of an intruding hand on the steering wheel, at preset time intervals, the movement distance of each preset key point in the intruding hand can be determined based on the starting and ending positions corresponding to the current preset time interval. Correspondingly, a first mapping relationship database between different starting and ending positions and movement distances of each preset key point can be pre-established. When determining the starting and ending positions corresponding to each preset key point, this first mapping relationship database can be traversed and matched, and the matched movement distance can be used as the movement distance of each preset key point in the intruding hand.

[0035] S120. If so, then the rotation direction of the steering wheel is determined 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 steering wheel rotation direction can include clockwise and counterclockwise directions. The movement direction of each preset key point can be determined based on the start and end positions of each preset key point at the current preset time interval. The overall movement direction can be a unique direction obtained by aggregating the movement directions of each preset key point, which can be used to characterize the overall movement direction of the corresponding intruding hand.

[0037] Specifically, a second mapping database between different overall movement directions and different rotation directions can be pre-established. Correspondingly, after determining the overall movement direction of the intruding hand, the database can be iterated and matched, and the matched rotation direction can be used as the steering wheel's rotation direction. It should also be noted that if the movement distance of each preset key point does not meet the set conditions, it indicates that the intruding hand is not applying force to the steering wheel, and control of the steering wheel can be refused.

[0038] S130. Determine the magnitude of the force exerted by the intruding hand based on the movement distance of each preset key point, and determine the rotation angle of the steering wheel based on the magnitude of the force, the radius of the steering wheel, and the duration of the force exertion.

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

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

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

[0042] The duration of the set time interval can be the same as the duration of the corresponding preset time interval.

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

[0044] In this embodiment of the invention, the movement distance of each preset key point in the intruding hand grabbing the steering wheel within a preset time interval is determined. When the movement distance of each preset key point meets the set conditions, the steering wheel rotation direction and the magnitude of the force exerted by the intruding hand are determined. Then, combined with the corresponding steering wheel radius and the duration of the force exertion, the steering wheel rotation angle is determined. This allows for timely and accurate cancellation of the interference caused by the intruding hand on the steering wheel rotation. This helps to avoid situations such as loss of vehicle control caused by sudden braking when the intruding hand grabbing the steering wheel is confirmed, thus helping to maintain stable driving and improve vehicle driving safety.

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

[0046] Furthermore, the phrase "determine the steering wheel rotation direction based on the overall movement direction of the intruding hand" is refined to "determine the first tangent and the second tangent at 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 movement direction and the first tangent direction, and determine the second angle between the overall movement direction and the second tangent direction; take the tangent direction corresponding to the angle less than a right angle in the first and second angles as the target tangent direction, and take the rotation direction corresponding to the target tangent direction as the steering wheel rotation direction," to improve the steering wheel rotation direction determination mechanism.

[0047] refer to Figure 2 The method specifically includes the following steps:

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

[0049] For example, the preset time interval can correspond to a start time and an end time; correspondingly, determining the movement distance of each preset key point in the intruded hand, and judging whether the movement distance of each preset key point meets the set conditions, may include:

[0050] 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 are determined; a fixed coordinate system is constructed for the image data corresponding to the steering wheel area, and 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 are determined; based on the first and second coordinates of each preset key point, the movement distance of each preset key point is determined, and the movement distance of each preset key point is compared with a preset distance threshold; if the proportion of the number of preset key points whose movement distance is greater than the preset distance threshold to the total number of preset key points is not less than a set proportion, then the movement distance of each preset key point is determined to meet the set condition.

[0051] The fixed coordinate system can be a coordinate system constructed with any point in the image corresponding to the steering wheel area as its origin. The origin of this fixed coordinate system can remain constant regardless of the position of each preset key point. This origin could be, for example, the vertex of the lower right corner of the image corresponding to the steering wheel area or the center point of the image; no specific limitations are imposed here. The image data of the steering wheel area can be acquired by an image acquisition device set at a designated location. The image data of the steering wheel area can be an image covering the steering wheel location. This image can at least include the steering wheel, the driver's hand, and any intruding hand. The designated location can be selected based on needs and experience, such as the A-pillar location inside the vehicle. The positions of each preset key point can be different at different times. The preset distance threshold can be preset based on needs or experience.

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

[0053] It is understandable that by establishing a fixed coordinate system for the image data corresponding to the steering wheel area, the corresponding movement distance can be calculated based on the specific coordinates of each preset key point at the start and end times of the current preset time interval. This eliminates the need to pre-establish a mapping database between the start and end positions and movement distances of each preset key point, thus simplifying the process of determining the corresponding movement distance and improving the efficiency of determining the movement distance of each preset key point. Furthermore, by setting a condition that the proportion of the number of preset key points with movement distances greater than a preset distance threshold to the total number of preset key points is not less than a set proportion, it helps to avoid the situation where the intruding hand is judged to be exerting force on the steering wheel and thus interfered with and canceled when the intruding hand is slightly shaking but not exerting force, reducing the waste of computing resources and also helping to reduce the risk of vehicle loss of control caused by excessive intervention in the steering wheel.

[0054] S220. If so, then determine the first tangent and the second tangent at 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 outer edge of the steering wheel can form a circle. The intersection point can be the point where the hand intrudes into the circle formed by the outer edge of the steering wheel intersects with the circle formed by the outer edge of the steering wheel. The first tangent and the second tangent can both be tangents to the circle formed by the outer edge of the steering wheel at their respective intersection points, and the first tangent and the second tangent can intersect at the intersection point.

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

[0057] The first tangent direction can be the direction indicated by the first tangent at the corresponding intersection point, and the second tangent direction can be the direction indicated by the second tangent at the corresponding intersection point. The first tangent direction can correspond to either a clockwise or counterclockwise direction. When the first tangent direction corresponds to a clockwise direction, the second tangent direction can correspond to a counterclockwise direction, and vice versa. The formulas for calculating the first and second included angles are as follows:

[0058]

[0059] in, It could be the direction vector corresponding to the overall direction of movement of the invading 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 included angle or the second included angle. When When θ is the direction vector corresponding to the first tangent direction, θ can be the first included angle; when When θ is the direction vector corresponding to the second tangent direction, θ can be the second included angle.

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

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

[0062] S250. Based on the movement distance of each preset key point, determine the magnitude of the force exerted by the intruding hand, and based on the magnitude of the force, the radius of the steering wheel, and the duration of the force exertion, determine the rotation angle of the steering wheel.

[0063] For example, determining the force exerted by the intruding hand based on the movement distance of each preset key point may include:

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

[0065] The preset rule can be to take the largest movement distance among the movement distances of each preset key point as the overall movement distance of the intruding hand, or it can be the average movement distance of each preset key point as the overall movement distance of the intruding hand. This preset rule can be set based on experience or needs, and is not specifically limited here. The preset ratio coefficient can be a ratio value set according to needs or experience. The formula for calculating the force exerted by the intruding hand can be:

[0066] F≈k·d

[0067] Where F can be the magnitude of the force exerted on the invading hand, k can be a preset proportional coefficient, and d can be the total distance the invading hand moves.

[0068] It is understandable that by setting a corresponding preset ratio coefficient, the product of the overall movement distance and the preset ratio coefficient can be used as the corresponding force magnitude. This eliminates the need to establish a mapping relationship database between different movement distances and force magnitudes in advance, thereby simplifying the process of determining the force magnitude of the corresponding intrusion into the hand and improving the efficiency of determining the corresponding force magnitude. It also helps to improve the execution efficiency of the corresponding interference cancellation process.

[0069] For example, determining the steering wheel rotation angle based on the magnitude of the applied force, the steering wheel radius, and the duration of the applied force may include:

[0070] Multiply the magnitude of the applied force by the radius of the steering wheel to obtain the torque corresponding to the force exerted by the intruding hand; determine the angular acceleration of the steering wheel based on the moment of inertia of the steering wheel and the torque; determine the rotation angle of the steering wheel based on the angular acceleration and the duration of the applied force.

[0071] The duration of the force application can be the same as the duration of the preset time interval mentioned above. The formula for calculating the corresponding torque is as follows:

[0072] τ=r×F

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

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

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

[0076]

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

[0078] In an optional embodiment, the formula for calculating the steering wheel rotation angle can be:

[0079]

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

[0081] Understandably, by determining the torque corresponding to the force exerted on the hand and the radius of the steering wheel, the angular acceleration of the steering wheel is determined based on the moment of inertia and the torque. Finally, the rotation angle of the steering wheel is determined based on the angular acceleration and the duration of the force exerted. This process of determining the rotation angle of the steering wheel is further refined, thereby helping to improve the accuracy of the determined rotation angle.

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

[0083] In this embodiment of the invention, by determining the first and second tangents at the intersection of the intruding hand and the outer edge of the steering wheel, and based on the relationship between the corresponding first and second included angles and the right angle, the target tangent direction is further determined, and the steering wheel rotation direction is determined accordingly. This eliminates the need to pre-establish a mapping relationship database between different overall movement directions and steering wheel rotation directions, thus simplifying the determination process by eliminating the need to traverse and match the corresponding mapping relationship database when determining the steering wheel rotation direction. Furthermore, since it utilizes the real-time correlation between the tangent at the intersection of the intruding hand and the outer edge of the steering wheel and the corresponding overall movement direction to further determine the steering wheel rotation direction, it also helps to improve the accuracy and reliability of the determined steering wheel rotation direction.

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

[0085] Furthermore, before determining the movement distance of each preset key point in the intruding hand based on a preset time interval, the following steps are added: "Acquire real-time image data of the steering wheel area through an image acquisition device at a preset location; perform preprocessing operations on the real-time image data based on a preset image processing algorithm; wherein the preprocessing operations include at least one of filtering, denoising, and grayscale processing; segment the preprocessed real-time image data based on a preset image segmentation algorithm; wherein the segmented image data includes the steering wheel, hand area, and other areas; identify the segmented image data to determine whether an intruding hand exists in the segmented image data; if so, determine the position of the intruding hand on the steering wheel and trigger the determination of the movement distance of each preset key point in the intruding hand based on a preset time interval." This achieves accurate determination of the presence of an intruding hand on the steering wheel and improves the timeliness of corresponding interference cancellation.

[0086] refer to Figure 3 The method specifically includes the following steps:

[0087] S310. Real-time image data of the steering wheel area is acquired through an image acquisition device at a preset position.

[0088] The preset location can be the aforementioned designated location inside the vehicle. The image acquisition device can be a high-precision camera, etc. The real-time image data can be the actual image data acquired of the steering wheel area.

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

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

[0091] The hand region can include at least the driver's hand and the intruding hand. Image segmentation algorithms can include U-Net or DeepLab, among others.

[0092] S340. Identify the segmented image data to determine whether there is any intrusion into the hand in the segmented image data.

[0093] Specifically, the segmented image data can be input into a pre-trained model, which will output a determination of whether a corresponding intrusion into the hand exists. This pre-trained model can be a neural network model, a machine learning model, etc.

[0094] For example, identifying whether an intrusion into the hand exists in the segmented image data can 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 a single hand is found on the steering wheel, it is determined that no intruding hand exists and the current driver is reminded to use both hands to drive; if two hands are found on the steering wheel, it is determined that no intruding hand exists and the current driver is driving normally; if the number of hands on the steering wheel is not less than three, it is determined that an intruding hand exists.

[0096] The preset image recognition algorithm can be selected as needed; no specific limitations are specified here.

[0097] Understandably, by recognizing the number of hands on the steering wheel, the detection of intrusive hands can be achieved solely through the interaction between the hands and the steering wheel, thus eliminating the need to obtain the driver's or passengers' facial information and providing a high level of privacy and security.

[0098] S350, If yes, then determine the position of the intruding hand on the steering wheel, and trigger the execution of determining the movement distance of each preset key point in the intruding hand based on a preset time interval, and determine whether the movement 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 no intruding hand is detected, it indicates that the vehicle is in normal driving condition, and no intervention is needed when turning the steering wheel. If an intruding hand is detected, the identified hands are matched against pre-stored driver hand information, and any hands that do not match are identified as intruding hands. The pre-stored driver hand information can be the driver's hand information stored by the corresponding camera during normal vehicle operation, or it can be hand information pre-registered by the driver through the corresponding image acquisition device.

[0100] S360. If so, the rotation direction of the steering wheel is determined 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. Based on the movement distance of each preset key point, determine the magnitude of the force exerted by the invading hand, and based on the magnitude of the force, the radius of the steering wheel, and the duration of the force exertion, determine the rotation angle of the steering wheel.

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

[0103] In this embodiment of the invention, real-time image data of the steering wheel area is acquired in real time. After performing corresponding preprocessing and segmentation operations on the real-time image data, the identification and determination of whether an intruding hand exists are performed. After determining that an intruding hand exists, the position of the intruding hand is further determined, and subsequent operations are triggered to determine the movement distance of each preset key point in the intruding hand based on a preset time interval. This enables timely and accurate identification of the relevant information of the intruding hand when the steering wheel is snatched, thereby helping to actively counteract the interference caused by the intruding hand to the steering wheel rotation and reducing the risk of vehicle loss of control due to the steering wheel being snatched.

[0104] Figure 4This is a schematic diagram of an anti-snatching steering wheel control device provided in an embodiment of the present invention. This embodiment is applicable to situations where the rotation of the steering wheel is interfered with by snatching. The device can be implemented in hardware and / or software and can be configured in an electronic device. Figure 4 The device includes:

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

[0106] The rotation direction determination module 420 is used to determine the rotation direction of the steering wheel based on the overall movement direction of the intruding hand if the condition is met; wherein the overall movement direction is obtained by integrating the movement directions of each preset key point.

[0107] The rotation angle determination module 430 is used to determine the magnitude of the force exerted by the intruding hand based on the moving distance of each preset key point, and to determine the rotation angle of the steering wheel based on the magnitude of the force, the radius of the steering wheel, and the duration of the force exertion.

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

[0109] In this embodiment of the invention, the movement distance of each preset key point in the intruding hand grabbing the steering wheel within a preset time interval is determined. When the movement distance of each preset key point meets the set conditions, the steering wheel rotation direction and the magnitude of the force exerted by the intruding hand are determined. Then, combined with the corresponding steering wheel radius and the duration of the force exertion, the steering wheel rotation angle is determined. This allows for timely and accurate cancellation of the interference caused by the intruding hand on the steering wheel rotation. This helps to avoid situations such as loss of vehicle control caused by sudden braking when the intruding hand grabbing the steering wheel is confirmed, thus helping to maintain stable driving and improve vehicle driving safety.

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

[0111] A tangent determination unit is used to determine a first tangent and a second tangent at the intersection of the intruding hand and the outer edge of the steering wheel; wherein the first tangent and the second tangent are in opposite directions;

[0112] Angle determination unit is used to determine a first angle between the overall movement direction and the first tangential direction, and to determine a second angle between the overall movement direction and the second tangential direction;

[0113] The rotation direction determination unit is used to take the tangent direction corresponding to the angle less than a right angle in the first included angle and the second included angle as the target tangent direction, and take the rotation direction corresponding to the target tangent direction as the rotation direction of the steering wheel.

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

[0115] The overall movement distance determination unit is used to determine the overall movement distance of the intruding hand based on preset rules and the movement distance of each preset key point.

[0116] The force exertion determination unit is used to multiply the overall moving distance by a preset proportional coefficient as the force exerted on the invading hand.

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

[0118] A torque determination unit is used to multiply the magnitude of the applied force by the radius of the steering wheel to obtain the torque corresponding to the force applied by the intruding hand.

[0119] An angular acceleration determination unit is used to determine the angular acceleration of the steering wheel based on the moment of inertia of the steering wheel and the torque.

[0120] The rotation angle determination unit is used to determine the rotation angle of the steering wheel based on the angular acceleration and the duration of the applied force.

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

[0122] The image data determination unit is used to 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.

[0123] The coordinate determination unit is used to construct a fixed coordinate system under the image data corresponding to the steering wheel area, and to 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;

[0124] The movement distance comparison unit is used to determine the movement distance of each preset key point based on the first coordinate and the second coordinate of each preset key point, and compare the movement distance of each preset key point with a preset distance threshold.

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

[0126] Optionally, the device may further include:

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

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

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

[0130] An intrusion hand presence determination module is used to identify the segmented image data and determine whether an intrusion hand exists in the segmented image data;

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

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

[0133] The hand count determination unit is used to determine the number of hands on the steering wheel in the segmented image data based on a preset image recognition algorithm;

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

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

[0136] The third determination unit is used 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-theft steering wheel control device provided in this embodiment of the invention can execute any one of the anti-theft steering wheel control methods provided in this embodiment of the invention, and has the corresponding functional modules and beneficial effects for executing each anti-theft steering wheel control method. For details not described in the embodiments of the invention, please refer to the description in the embodiments of any one of the anti-theft steering wheel control methods of the invention.

[0138] According to embodiments 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 an electronic device 10 that can be used to implement embodiments 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 processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

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

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

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

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

[0144] Various embodiments 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-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0145] Computer programs used to implement 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, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

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

[0147] To provide interaction with a user, the systems and techniques described herein can 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 pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0148] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0149] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0150] Artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies mainly include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

[0151] Cloud computing refers to a technology system that enables access to a shared pool of physical or virtual resources via a network. These 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 applications such as artificial intelligence and blockchain, as well as for model training.

[0152] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution provided in this disclosure can be achieved, and this is not limited herein.

[0153] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A grab-resistant steering wheel control method, characterized by, The method comprises the following steps: Based on a preset time interval, the movement distance of each preset key point in the invading hand is determined, and it is judged whether the movement distance of each preset key point meets the set condition; wherein the invading hand is the hand that grabs the steering wheel; If yes, the rotation direction of the steering wheel is determined according to the overall movement direction of the invading hand; wherein the overall movement direction is obtained by integrating the movement direction of each preset key point; Based on a preset rule, the overall movement distance of the invading hand is determined according to the movement distance of each preset key point; The product of the overall movement distance and a preset proportion coefficient is taken as the force size of the invading hand, and the force size and the radius of the steering wheel are multiplied to obtain the torque corresponding to the force exerted by the invading hand; According to the moment of inertia of the steering wheel and the torque, the angular acceleration of the steering wheel is determined; According to the angular acceleration and the force duration, the rotation angle of the steering wheel is determined; The steering wheel is controlled to rotate reversely by the rotation angle within a set time interval according to the rotation direction; Wherein the preset time interval corresponds to a start time and an end time; accordingly, determining the movement distance of each preset key point in the invading hand, and judging whether the movement distance of each preset key point meets the set condition, comprises: 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; A fixed coordinate system corresponding to the image data of the steering wheel area is constructed, and 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 are determined; According to the first coordinates and the second coordinates of each preset key point, the movement distance of each preset key point is determined, and the movement distance of each preset key point is compared with the preset distance threshold; If the proportion of the number of preset key points whose movement distance is greater than the preset distance threshold to the total number of each preset key point is not less than the set proportion, it is determined that the movement distance of each preset key point meets the set condition.

2. The method of claim 1, wherein, The method comprises the following steps: According to the intersection of the invading hand and the outer edge of the steering wheel, the first tangent and the second tangent at the intersection are determined; wherein the directions of the first tangent and the second tangent are opposite; The first angle between the overall movement direction and the direction of the first tangent is determined, and the second angle between the overall movement direction and the direction of the second tangent is determined; The tangent direction corresponding to the smaller angle than the right angle in the first angle and the second angle is taken as the target tangent direction, and the rotation direction corresponding to the target tangent direction is taken as the rotation direction of the steering wheel.

3. The method of claim 1, wherein, Before determining the movement distance of each preset key point in the invading hand based on a preset time interval, the method further comprises the following steps: Real-time image data of the steering wheel area is obtained through an image acquisition device at a preset position; Based on a preset image processing algorithm, the real-time image data is preprocessed; wherein the preprocessing operation includes at least one of filtering processing, denoising processing and grayscale processing. The preprocessed real-time image data is segmented based on a preset image segmentation algorithm; the segmented image data includes a steering wheel, a hand region, and other regions; The segmented image data is identified to determine whether an invading hand exists in the segmented image data; If so, the position of the invading hand on the steering wheel is determined, and a movement distance of each preset key point in the invading hand is determined based on a preset time interval.

4. The method of claim 3, wherein, The segmented image data is identified to determine whether an invading hand exists in the segmented image data, including: The number of hands on the steering wheel in the segmented image data is determined based on a preset image recognition algorithm; If it is determined that there is only one hand on the steering wheel, it is determined that the invading hand does not exist 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 the invading hand does not exist and the current driver is normal driving; If it is determined that the number of hands on the steering wheel is not less than three, it is determined that the invading hand exists.

5. A hijack-resistant steering wheel control device applied to the hijack-resistant steering wheel control method of any one of claims 1 to 4, characterized by, including: A movement distance determination module for determining the movement distance of each preset key point in the invading hand based on a preset time interval, and determining whether the movement distance of each preset key point meets a set condition; wherein the invading 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 invading hand if so; wherein the overall movement direction is obtained by integrating the movement directions of each preset key point; A rotation angle determination module for determining the force size of the invading hand according to the movement distance of each preset key point, and determining the rotation angle of the steering wheel according to the force size, the steering wheel radius, and the force duration; A steering wheel rotation control module for controlling the steering wheel to rotate in the opposite direction of the rotation angle within a set time interval according to the rotation direction.

6. An electronic device, comprising: The electronic device includes: At least one processor; and The memory is in communication connection with 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 to enable the at least one processor to execute the anti-snatching steering wheel control method of any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the anti-snatching steering wheel control method of any one of claims 1-4 when executed.

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