Method and device for detecting hand-off of vehicle steering wheel, vehicle and storage medium

Abstract

The application relates to the technical field of auxiliary driving, in particular to a vehicle steering wheel hand-off detection method and device, a vehicle and a storage medium, wherein the method comprises the following steps: acquiring a steering wheel torque signal of a vehicle under the condition that the vehicle is in a target auxiliary driving working condition; matching a state detection interval in which a torque value of the steering wheel torque signal is located; confirming a current steering wheel prediction state of the vehicle according to the state detection interval, and obtaining a hand-off detection result of the steering wheel according to the current steering wheel prediction state. The application embodiment can confirm the detection mode of steering wheel hand-off based on the state detection interval of the steering wheel torque signal, comprehensively analyze the torque signal by combining various signal characteristics, and obtain the final hand-off detection result, so that the comprehensive coverage of the subdivided driving scene is realized, and the accuracy of the hand-off state detection is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of assisted driving, and in particular to a hand-off detection method and device for a vehicle steering wheel, a vehicle and a storage medium. BACKGROUND

[0002] When a vehicle is running in an advanced driver assistance system (ADAS), the state of the driver needs to be monitored, and a hand-off detection method can be used to continuously monitor whether the driver is performing a corresponding dynamic driving task.

[0003] In related technologies, the hand-off state of the steering wheel can be determined by detecting the steering wheel torque and the duration, or by integrating multiple sensor information, or by pre-training a neural network algorithm.

[0004] However, in related technologies, the detection strategy for determining whether the driver has left the steering wheel by the steering wheel torque is difficult to achieve coverage for subdivided driving scenarios, resulting in an increased probability of misjudgment of the steering wheel hand-off, and the method of integrating multiple sensor information or pre-training a neural network algorithm for detection increases the cost of steering wheel state detection, which cannot meet the comprehensive and economic needs of hand-off detection, and affects the safety of the vehicle. SUMMARY

[0005] The present application provides a hand-off detection method and device for a vehicle steering wheel, a vehicle and a storage medium to solve the problems in related technologies that the detection strategy for determining whether the driver has left the steering wheel by the steering wheel torque is difficult to achieve coverage for subdivided driving scenarios, resulting in an increased probability of misjudgment of the steering wheel hand-off, and the method of integrating multiple sensor information or pre-training a neural network algorithm for detection increases the cost of steering wheel state detection, which cannot meet the comprehensive and economic needs of hand-off detection, and affects the safety of the vehicle.

[0006] The first aspect of the present application provides a hand-off detection method for a vehicle steering wheel, comprising the following steps: acquiring a steering wheel torque signal of the vehicle when the vehicle is in a target assisted driving working condition; matching a state detection interval in which a torque value of the steering wheel torque signal is located; determining a current steering wheel prediction state of the vehicle according to the state detection interval, and obtaining a hand-off detection result of the steering wheel according to the current steering wheel prediction state.

[0007] Optionally, in an embodiment of the present application, before confirming the current steering wheel prediction state of the vehicle according to the state detection interval, the method further comprises: calculating a standard deviation and a direct current component of the steering wheel torque signal, and detecting whether the standard deviation and / or the direct current component satisfies a first preset filtering condition; and in a case where the standard deviation and / or the direct current component satisfies the first preset filtering condition, outputting the current steering wheel prediction state as a hands-off state.

[0008] Optionally, in an embodiment of the present application, confirming the current steering wheel prediction state of the vehicle according to the state detection interval comprises: judging whether the state detection interval satisfies a preset second filtering condition; and if the state detection interval satisfies the preset second filtering condition, generating the current steering wheel prediction state according to the state detection interval, otherwise confirming the current steering wheel prediction state according to a frequency signal feature of the steering wheel torque signal.

[0009] Optionally, in an embodiment of the present application, confirming the current steering wheel prediction state according to the frequency signal feature of the steering wheel torque signal comprises: detecting whether a gain value and a frequency domain amplitude value of the frequency signal feature satisfy a preset third filtering condition; and in a case where the gain value and the frequency domain amplitude value satisfy the preset third filtering condition, confirming the current steering wheel prediction state as a hands-on state, otherwise confirming the current steering wheel prediction state as a hands-off state.

[0010] Optionally, in an embodiment of the present application, obtaining a hands-off detection result of the steering wheel according to the current steering wheel prediction state comprises: in a case where the current steering wheel prediction state satisfies a preset state latching condition, judging whether a latching duration of the vehicle satisfies a preset update condition; in a case where the latching duration satisfies the preset update condition, taking the current steering wheel prediction state satisfying the preset state latching condition as the hands-off detection result, and updating a historical latching state of the vehicle based on the hands-off detection result, otherwise obtaining the hands-off detection result from the historical latching state.

[0011] Optionally, in an embodiment of the present application, before judging whether the latching duration of the vehicle satisfies the preset update condition, the method further comprises: confirming a time window maintenance state according to the current steering wheel prediction state and a historical steering wheel prediction state at a previous time; and in a case where the time window maintenance state reaches a preset period length, determining that the current steering wheel prediction state satisfies the preset state latching condition.

[0012] The second aspect embodiment of the present application provides a hand-off detection device of a vehicle steering wheel, comprising: an acquisition module, configured to acquire a steering wheel torque signal of the vehicle when the vehicle is in a target assisted driving working condition; a matching module, configured to match a torque value of the steering wheel torque signal to a state detection interval; a detection module, configured to confirm a current steering wheel prediction state of the vehicle according to the state detection interval, and obtain a hand-off detection result of the steering wheel according to the current steering wheel prediction state.

[0013] Optionally, in an embodiment of the present application, the detection module comprises: a detection unit, configured to calculate a standard deviation and a direct current component of the steering wheel torque signal before confirming the current steering wheel prediction state of the vehicle according to the state detection interval, and detect whether the standard deviation and / or the direct current component meets a first preset filtering condition; and an output unit, configured to output the current steering wheel prediction state as a hand-off state when the standard deviation and / or the direct current component meets the first preset filtering condition.

[0014] Optionally, in an embodiment of the present application, the detection module comprises: a first judgment unit, configured to judge whether the state detection interval meets a preset second filtering condition; and a generation unit, configured to generate the current steering wheel prediction state according to the state detection interval when the state detection interval meets the preset second filtering condition, or confirm the current steering wheel prediction state according to a frequency signal feature of the steering wheel torque signal.

[0015] Optionally, in an embodiment of the present application, the generation unit is specifically configured to: detect whether a gain value and a frequency domain amplitude value of the frequency signal feature meet a preset third filtering condition; and confirm the current steering wheel prediction state as a hand-hold state when the gain value and the frequency domain amplitude value meet the preset third filtering condition, or confirm the current steering wheel prediction state as a hand-off state otherwise.

[0016] Optionally, in an embodiment of the present application, the detection module comprises: a second judgment unit, configured to judge whether a latching duration of the vehicle meets a preset update condition when the current steering wheel prediction state meets a preset state latching condition; and an update unit, configured to take the current steering wheel prediction state meeting the preset state latching condition as the hand-off detection result when the latching duration meets the preset update condition, update a historical latching state of the vehicle based on the hand-off detection result, or obtain the hand-off detection result from the historical latching state otherwise.

[0017] Optionally, in an embodiment of the present application, the detection module further comprises: a confirmation unit, configured to confirm a time window maintaining state according to the current steering wheel prediction state and a historical steering wheel prediction state at a previous time before judging whether the latch time length of the vehicle satisfies the preset update condition; and a determination unit, configured to determine that the current steering wheel prediction state satisfies the preset state latch condition if the time window maintaining state reaches a preset period length.

[0018] A third aspect of the present application provides a vehicle, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hand-off detection method of a vehicle steering wheel as described in the above embodiments.

[0019] A fourth aspect of the present application provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the hand-off detection method of a vehicle steering wheel as described above.

[0020] A fifth aspect of the present application provides a computer program, which is executed to implement the hand-off detection method of a vehicle steering wheel as described above.

[0021] The embodiments of the present application can detect the hand-off of the steering wheel based on the steering wheel torque signal state detection interval, comprehensively analyze the torque signal by combining various signal characteristics, and obtain the final hand-off detection result, thereby realizing comprehensive coverage for the subdivided driving scenarios and improving the accuracy of hand-off state detection. Thus, the problems in the related art that the detection strategy of judging whether the driver is hand-off by the steering wheel torque is difficult to realize coverage for the subdivided driving scenarios, resulting in an increased probability of misjudgment of the steering wheel hand-off, and the method of detecting by comprehensively combining various sensor information or by pre-training neural algorithm increases the cost of steering wheel state detection, cannot meet the comprehensiveness and economy requirements of hand-off detection, and affects the safety of the vehicle are solved.

[0022] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, wherein:

[0024] Figure 1 A flowchart of a hand-off detection method of a vehicle steering wheel according to an embodiment of the present application is shown in FIG. 1;

[0025] Figure 2A schematic diagram of obtaining the standard deviation and DC component of the steering wheel torque signal for an embodiment of the present application;

[0026] Figure 3 A schematic diagram of frequency domain analysis of the steering wheel torque signal for an embodiment of the present application;

[0027] Figure 4 A schematic diagram of obtaining the frequency domain gain of the steering wheel torque signal for an embodiment of the present application;

[0028] Figure 5 A schematic diagram of the section determination process of the steering wheel torque signal for an embodiment of the present application;

[0029] Figure 6 A schematic diagram of the state latch determination process of the steering wheel hand-off detection for an embodiment of the present application;

[0030] Figure 7 A schematic diagram of the time window determination process of the steering wheel hand-off detection for an embodiment of the present application;

[0031] Figure 8 A schematic diagram of the structure of the steering wheel hand-off detection device for an embodiment of the present application;

[0032] Figure 9 A schematic diagram of the structure of the vehicle for an embodiment of the present application. DETAILED DESCRIPTION

[0033] Embodiments of the present application are described in detail below with reference to the attached drawing figures, wherein the same or like reference numerals are used throughout the figures to refer to the same or like elements or elements with the same or similar function. The embodiments described below are exemplary and are intended to be illustrative of the present application and are not to be construed as limiting of the present application.

[0034] A vehicle steering wheel hand-off detection method, device, vehicle, and storage medium are described below with reference to the accompanying drawings. In the related art mentioned in the background, the detection strategy of determining whether the driver is hand-off by the steering wheel torque is difficult to achieve coverage for the subdivided driving scenarios, resulting in an increased probability of misjudgment of the steering wheel hand-off. The method of detecting by integrating multiple sensor information or through a pre-trained neural algorithm increases the cost of steering wheel state detection, which cannot meet the comprehensive and economic needs of hand-off detection, and affects the safety of the vehicle. The present application provides a vehicle steering wheel hand-off detection method. In the method, the detection method of steering wheel hand-off can be determined based on the steering wheel torque signal state detection interval, and the torque signal is comprehensively analyzed in combination with multiple signal characteristics to obtain the final hand-off detection result, thereby achieving comprehensive coverage for the subdivided driving scenarios and improving the accuracy of hand-off state detection. Thus, the problems of the related art, such as the detection strategy of determining whether the driver is hand-off by the steering wheel torque being difficult to achieve coverage for the subdivided driving scenarios, resulting in an increased probability of misjudgment of the steering wheel hand-off, and the method of detecting by integrating multiple sensor information or through a pre-trained neural algorithm increasing the cost of steering wheel state detection, which cannot meet the comprehensive and economic needs of hand-off detection, and affecting the safety of the vehicle, are solved.

[0035] Specifically, Figure 1 A flowchart of a vehicle steering wheel hand-off detection method provided by an embodiment of the present application is shown in the figure.

[0036] As Figure 1 shown, the vehicle steering wheel hand-off detection method includes the following steps:

[0037] In step S101, the steering wheel torque signal of the vehicle is obtained when the vehicle is in a target assisted driving working condition.

[0038] It can be understood that in the embodiments of the present application, the target assisted driving working condition can be a working condition corresponding to the activation of the ADAS advanced driving assistance system function of the vehicle. At this time, the vehicle in the target assisted driving working condition needs to use the hand-off detection method to continuously detect whether the driver is performing the corresponding dynamic driving task and whether there is a steering wheel hand-off situation. The steering wheel torque signal can be measured by installing a torque sensor on the vehicle steering wheel. The torque sensor can be contact type, such as a potentiometer or a differential transformer, or non-contact type, such as a magnetic induction sensor.

[0039] In step S102, the torque value of the steering wheel torque signal is matched with the state detection interval.

[0040] It can be understood that, in the embodiments of the present application, the size interval corresponding to the signal feature matching torque value based on the steering wheel torque signal torque value is utilized, wherein the division of the state detection interval can be performed by considering the steering system characteristics of the vehicle, and the torque signal is distinguished in different states, so as to accelerate the process of the steering wheel hand-off detection function and guarantee the accuracy of the detection result.

[0041] In step S103, the current steering wheel prediction state of the vehicle is confirmed according to the state detection interval, and the hand-off detection result of the steering wheel is obtained according to the current steering wheel prediction state.

[0042] It can be understood that, in the embodiments of the present application, the confirmation method of the steering wheel hand-off can be determined according to different state detection intervals, for example, the time state of the steering wheel can be directly confirmed in the case of being less than the set maximum or minimum threshold. After obtaining the current steering wheel prediction state, the application of the prediction result can be further confirmed again according to the program setting of the hand-off detection.

[0043] Optionally, in an embodiment of the present application, before confirming the current steering wheel prediction state of the vehicle according to the state detection interval, it further includes: calculating the standard deviation and the direct current component of the steering wheel torque signal, and detecting whether the standard deviation and / or the direct current component satisfies the first preset filtering condition; in the case that the standard deviation and / or the direct current component satisfies the first preset filtering condition, outputting the current steering wheel prediction state as the hand-off state.

[0044] It should be noted that the first preset filtering condition can be set by those skilled in the art according to the actual situation, which is not limited here.

[0045] In actual execution process, the first preset filtering condition can be set as that when the standard deviation and / or the direct current component of the steering wheel torque signal is less than a certain set threshold, it is judged that the steering wheel is in the hand-off state. The calculation of the standard deviation and the direct current component of the steering wheel torque signal can be performed by obtaining the time domain feature of the data signal of the unfiltered torque signal, and the change trend of the signal is obtained by analyzing the time domain features of different periods, so as to confirm the hand-held steering wheel state of the current user driving.

[0046] Specifically, Figure 2The schematic diagram for obtaining the standard deviation and DC component of the steering wheel torque signal of an embodiment of the present application is shown in the following. The unfiltered torque signal is accepted, the torque signal is input into a 500-size buffer, the parameters in the buffer are window calculated, the standard deviation of the torque signal in the time domain buffer is calculated, the standard deviation in 0.4s is obtained, all the parameters are averaged to obtain the DC component of the torque signal, the DC component is compared with the threshold value, for the too small DC component, it is judged that the current state is hand-off, the threshold value can be set to 0.11Nm to filter the external impact signal and avoid the state misrecognition caused by the impact signal.

[0047] Optionally, in an embodiment of the present application, the current steering wheel predicted state of the vehicle is confirmed according to the state detection interval, comprising: judging whether the state detection interval meets a preset second filtering condition; if the state detection interval meets the preset second filtering condition, generating the current steering wheel predicted state according to the state detection interval, otherwise confirming the current steering wheel predicted state according to the frequency signal feature of the steering wheel torque signal.

[0048] It should be noted that the preset second filtering condition can be set by those skilled in the art according to the actual situation, which is not specifically limited here.

[0049] In actual execution process, the preset second filtering condition can be that the state detection interval can directly confirm the steering wheel predicted state according to the torque value. For example, the state detection interval is divided into three sections, the first section is that the absolute value of the torque is greater than 0.25Nm, the output steering wheel state is hand-held state, the second section is that the absolute value of the torque is less than 0.1Nm, the output steering wheel state is hand-off state. For the torque intermediate interval between 0.1Nm and 0.25Nm, the current steering wheel predicted state is further confirmed according to the frequency signal feature of the steering wheel torque signal.

[0050] Optionally, in an embodiment of the present application, the current steering wheel predicted state is confirmed according to the frequency signal feature of the steering wheel torque signal, comprising: judging whether the gain value and the frequency domain amplitude of the frequency signal feature meet a preset third filtering condition; in the case that the gain value and the frequency domain amplitude meet the preset third filtering condition, confirming that the current steering wheel predicted state is hand-held state, otherwise, confirming that the current steering wheel predicted state is hand-off state.

[0051] It should be noted that the preset third filtering condition can be set by those skilled in the art according to the actual situation, which is not specifically limited here.

[0052] In actual execution, the preset third filtering condition can be that the frequency domain signal feature of the steering wheel torque signal is greater than a set threshold, and the current steering wheel prediction state is determined as the hand-held state. The frequency domain signal feature can be obtained by multiplying the gain value of the frequency and the frequency domain amplitude value.

[0053] Specifically, as shown in Figure 3 , it is a frequency domain analysis diagram of the steering wheel torque signal of an embodiment of the present application. The torque signal is low-pass filtered to filter out signals above 10 Hz, and the frequency domain amplitudes of 1 Hz, 4 Hz, 5 Hz, 6 Hz, and 7 Hz are calculated, respectively, to realize frequency domain analysis, and the components shown are selected to determine whether the hand is off. Figure 4 It is a diagram for obtaining the frequency domain gain of the steering wheel torque signal of an embodiment of the present application, wherein the unfiltered torque signal is accepted, the torque signal is input into the buffer, the size of the buffer is 50, and by subtracting the values of 25 intervals, the torque change trend within 100 ms can be obtained. The difference value after subtraction is used as the input quantity, and the gain value of the corresponding 1D calibration table in Table 1 is matched with the frequency. The larger the difference value, the greater the gain, so as to use the frequency domain signal feature to speed up the detection speed and reduce the delay time of the hand-on.

[0054] Table 1

[0055] Output 1 1 2 2 2 2.5 3 3 Input 0 0.01 0.1 0.2 0.3 0.4 0.5 0.51

[0056] For example, as shown in Figure 5 , it is a diagram of a segment judgment process of a steering wheel torque signal of an embodiment of the present application, wherein:

[0057] Step S501: input the steering wheel torque signal.

[0058] Among them, the torque absolute value corresponding to the steering wheel torque signal is obtained.

[0059] Step S502: determine whether it is less than 0.1 Nm?

[0060] Among them, it is determined whether the torque absolute value is less than 0.1 Nm, if yes, go to step S503, otherwise, go to step S504.

[0061] Step S503: output the hand-off state.

[0062] Among them, the steering wheel prediction result is confirmed as the hand-off state.

[0063] Step S504: determine whether it is greater than 0.25 Nm?

[0064] Among them, it is determined whether the torque absolute value is greater than 0.25 Nm, if yes, go to step S505, otherwise, go to step S506.

[0065] Step S505: outputting the hand-holding state.

[0066] wherein the steering wheel prediction result is confirmed as the hand-holding state.

[0067] Step S506: judging whether the frequency domain signal feature reaches the threshold value.

[0068] wherein if the frequency domain signal feature reaches the threshold value, step S507 is entered, otherwise, step S508 is entered.

[0069] Step S507: outputting the hand-holding state.

[0070] wherein the steering wheel prediction result is confirmed as the hand-holding state.

[0071] Step S508: outputting the hand-off state.

[0072] wherein the steering wheel prediction result is confirmed as the hand-off state.

[0073] Step S509: outputting the prediction state.

[0074] wherein the steering wheel prediction result is obtained.

[0075] Optionally, in an embodiment of the present application, the hand-off detection result of the steering wheel is obtained according to the current steering wheel prediction state, including: in the case that the current steering wheel prediction state satisfies the preset state latching condition, judging whether the latching duration of the vehicle satisfies the preset update condition; in the case that the latching duration satisfies the preset update condition, taking the current steering wheel prediction state satisfying the preset state latching condition as the hand-off detection result, and updating the historical latching state of the vehicle based on the hand-off detection result, otherwise, obtaining the hand-off detection result from the historical latching state.

[0076] It should be noted that the preset state latching condition and the preset update condition can be set by those skilled in the art according to the actual situation, and are not limited here.

[0077] In the actual execution process, after confirming that the current steering wheel prediction state satisfies the preset state latching condition, whether the latching duration of the vehicle satisfies the preset update condition, i.e., whether the duration of the steering wheel hand-off detection result output by the vehicle in the last period exceeds the preset duration, the state latching of the current vehicle is judged, the latching state is maintained when there is state latching at present, and the state is latched and maintained for 0.1s in the case that there is no state latching at present or the state latching is updateable.

[0078] Specifically, as shown in FIG. 4, it is a schematic diagram of the state latching judgment process of the steering wheel hand-off detection of an embodiment of the present application, wherein: Figure 6

[0079] ​Step S601: Latest prediction of the user's hand position on the steering wheel.

[0080] This includes obtaining the latest output of the steering wheel state prediction result.

[0081] Step S602: Is there a state latch?

[0082] In this step, it is determined whether the vehicle has a state latch. If it does, the process proceeds to step S603; otherwise, it proceeds to step S604.

[0083] Step S603: Output the original state.

[0084] This includes maintaining the vehicle's historical lock-in status.

[0085] Step S604: Output the new state and latch it.

[0086] Among them, the steering wheel hand-off detection results of the vehicle are updated based on the steering wheel status prediction results.

[0087] Optionally, in one embodiment of this application, before determining whether the vehicle's latching duration meets the preset update conditions, the method further includes: confirming the time window maintenance state based on the current steering wheel prediction state and the historical steering wheel prediction state at the previous moment; and determining that the current steering wheel prediction state meets the preset state latching conditions if the time window maintenance state reaches a preset cycle length.

[0088] It should be noted that the preset update conditions can be set by those skilled in the art according to the actual situation, and no specific limitations are made here.

[0089] In actual execution, the preset state latching condition can be the length of time that the current steering wheel prediction result can be maintained within a preset period. Some state transitions that are too short are filtered out to ensure the continuity of the state and avoid the repeated reset of the hands-off warning time caused by the back-and-forth switching of the state.

[0090] Specifically, such as Figure 7 The diagram shown is a schematic representation of the time window determination process for steering wheel hands-off detection according to an embodiment of this application, wherein:

[0091] Step S701: Input the latest predicted user's hand position on the steering wheel.

[0092] Among them, the prediction result of the steering wheel state is obtained.

[0093] Step S702: Determine if the state is the same as the previous state.

[0094] In this step, it is determined whether the current period detection status is the same as the historical period detection status. If so, proceed to step S703; otherwise, proceed to step S704.

[0095] Step S703: the counter is incremented by 1.

[0096] wherein the counter is incremented by 1.

[0097] Step S704: the counter is reset to 0.

[0098] wherein the counter is reset to 0.

[0099] Step S705: it is determined whether the counter is greater than a threshold value.

[0100] wherein if the counter is greater than the threshold value, step S706 is entered, otherwise, step S707 is entered.

[0101] Step S706: a new state is output.

[0102] wherein a steering wheel state prediction result of a current period is output.

[0103] Step S707: an original state is output.

[0104] wherein a historical detection result of the steering wheel is output.

[0105] Step S708: a state pre-processing output is output.

[0106] wherein a state pre-processing result is output.

[0107] Based on the above embodiment, the difference in torque signal characteristics of the steering system in the steering wheel hands-off and hands-on states can be utilized to eliminate torque fluctuations caused by external shocks from the signal characteristics, and the current state is determined through the frequency domain signal and the time domain signal together, combined with the real-time updated reference signal, and the steering wheel bias problem caused by short-time shocks or installation defects is overcome through the correction of the reference signal. Through the analysis of signals of different frequencies and the comprehensive judgment of time domain signals, irregular external interference can be filtered out, such as external interference in the joint, manhole, brick road, long-time jolt, and other driving scenarios, the current steering wheel hands-off state is effectively determined, the applicable scenarios of hands-off detection are expanded, and the safety risk of the user is reduced.

[0108] In particular, the above embodiment can update the reference signal during driving according to a self-learning strategy, thereby overcoming torque zero drift caused by sensor wear and tear, ensuring that the user has the intention to operate the steering wheel when the steering wheel is on, and determining the current state, and distinguishing the input of the user from the interference input of the outside world for testing.

[0109] The hand-off detection method of the vehicle steering wheel provided in the embodiment of the present application can confirm the detection manner of the hand-off of the steering wheel based on the steering wheel torque signal state detection interval, comprehensively analyze the torque signal in combination with various signal characteristics, and obtain the final hand-off detection result, so as to realize comprehensive coverage for the subdivided driving scene and improve the accuracy of the hand-off state detection. Thus, the problems in the prior art that the detection strategy of judging whether the driver is hand-off by the steering wheel torque is difficult to realize coverage for the subdivided driving scene, the misjudgment probability of the hand-off of the steering wheel is increased, and the method of detecting by comprehensively combining various sensor information or by pre-training neural algorithm increases the cost of the steering wheel state detection and cannot meet the comprehensiveness and economy demand of the hand-off detection, thereby affecting the safety of the vehicle and the like are solved.

[0110] Secondly, the hand-off detection device of the vehicle steering wheel provided in the embodiment of the present application is described with reference to the accompanying drawings.

[0111] Figure 8 FIG. 1 is a structural schematic diagram of the hand-off detection device of the vehicle steering wheel in the embodiment of the present application.

[0112] As shown in FIG. 1, the hand-off detection device 10 of the vehicle steering wheel includes an acquisition module 100, a matching module 200 and a detection module 300. Figure 8

[0113] The acquisition module 100 is configured to acquire the steering wheel torque signal of the vehicle when the vehicle is in a target assisted driving working condition.

[0114] The matching module 200 is configured to match the state detection interval in which the torque value of the steering wheel torque signal is located.

[0115] The detection module 300 is configured to confirm the current steering wheel prediction state of the vehicle according to the state detection interval, and obtain the hand-off detection result of the steering wheel according to the current steering wheel prediction state.

[0116] Optionally, in an embodiment of the present application, the detection module 300 includes a detection unit and an output unit.

[0117] The detection unit is configured to calculate the standard deviation and the direct current component of the steering wheel torque signal before confirming the current steering wheel prediction state of the vehicle according to the state detection interval, and detect whether the standard deviation and / or the direct current component meets a first preset filtering condition.

[0118] The output unit is configured to output the current steering wheel prediction state as a hand-off state when the standard deviation and / or the direct current component meets the first preset filtering condition.

[0119] Optionally, in an embodiment of the present application, the detection module 300 includes a first judgment unit and a generation unit. ​

[0120] The first judging unit is configured to judge whether the state detection interval meets a preset second filtering condition.

[0121] The generating unit is configured to generate a current steering wheel predicted state according to the state detection interval when the state detection interval meets the preset second filtering condition, or to confirm the current steering wheel predicted state according to a frequency signal feature of the steering wheel torque signal.

[0122] Optionally, in an embodiment of the present application, the generating unit is specifically configured to: detect whether a gain value and a frequency domain amplitude value of the frequency signal feature meet a preset third filtering condition; and confirm the current steering wheel predicted state as the hand-held state when the gain value and the frequency domain amplitude value meet the preset third filtering condition, or otherwise, confirm the current steering wheel predicted state as the hand-off state.

[0123] Optionally, in an embodiment of the present application, the detection module 300 comprises a second judging unit and an updating unit.

[0124] The second judging unit is configured to judge whether a latching duration of the vehicle meets a preset updating condition when the current steering wheel predicted state meets a preset state latching condition.

[0125] The updating unit is configured to take the current steering wheel predicted state meeting the preset state latching condition as a hand-off detection result when the latching duration meets the preset updating condition, and update a historical latching state of the vehicle based on the hand-off detection result, or otherwise, obtain the hand-off detection result from the historical latching state.

[0126] Optionally, in an embodiment of the present application, the detection module 300 further comprises a confirming unit and a judging unit.

[0127] The confirming unit is configured to confirm a time window maintenance state according to the current steering wheel predicted state and a historical steering wheel predicted state at a previous moment before judging whether the latching duration of the vehicle meets the preset updating condition.

[0128] The judging unit is configured to judge that the current steering wheel predicted state meets the preset state latching condition when the time window maintenance state reaches a preset period length.

[0129] It should be noted that the above description of the hand-off detection method for the vehicle steering wheel is also applicable to the hand-off detection device for the vehicle steering wheel of the embodiment, which will not be described here again.

[0130] The hand-off detection device of the vehicle steering wheel provided by the embodiment of the present application can confirm the detection mode of the hand-off of the steering wheel based on the steering wheel torque signal state detection interval, comprehensively analyze the torque signal in combination with various signal characteristics, and obtain the final hand-off detection result, so as to realize comprehensive coverage for the subdivided driving scene and improve the accuracy of the hand-off state detection. Thus, the problems in the prior art that the detection strategy of judging whether the driver is hand-off by the steering wheel torque is difficult to realize coverage for the subdivided driving scene, the misjudgment probability of the hand-off of the steering wheel is increased, the method of detecting by comprehensively combining various sensor information or by pre-training neural algorithm increases the cost of the steering wheel state detection, and the overall and economic requirements of the hand-off detection cannot be met, and the safety of the vehicle is affected are solved.

[0131] Figure 9 The vehicle structure schematic diagram provided by the embodiment of the present application. The vehicle can include:

[0132] The memory 901, the processor 902, and the computer program stored in the memory 901 and executable on the processor 902.

[0133] The processor 902 implements the hand-off detection method of the vehicle steering wheel provided in the above embodiment when executing the program.

[0134] Further, the vehicle further includes:

[0135] The communication interface 903 is used for communication between the memory 901 and the processor 902.

[0136] The memory 901 is used to store the computer program executable on the processor 902.

[0137] The memory 901 can include a high-speed RAM memory, and can also include a non-volatile memory, for example, at least one disk memory.

[0138] If the memory 901, the processor 902 and the communication interface 903 are independently implemented, the communication interface 903, the memory 901 and the processor 902 can be connected with each other through a bus and complete the communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For the convenience of representation, Figure 9Only one bus or only one type of bus can be present. Thus, the "bus" represents a communication path between two components.

[0139] Optionally, in a specific implementation, if the memory 901, the processor 902 and the communication interface 903 are integrated on a chip, the memory 901, the processor 902 and the communication interface 903 can complete the communication among each other through an internal interface.

[0140] The processor 902 can be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to carry out the methods described in the embodiments of the present application.

[0141] The embodiment further provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method for detecting hand-off of a steering wheel of a vehicle.

[0142] The embodiment further provides a computer program, and the computer program is executed to implement the method for detecting hand-off of a steering wheel of a vehicle.

[0143] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in one or N embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0144] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "N" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0145] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0146] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0147] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0148] Those skilled in the art of the present technology can understand that all or part of the steps carried out by the above-mentioned embodiment method can be completed by programs instructing related hardware, and the programs can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiment or a combination thereof.

[0149] In addition, each functional unit in each embodiment of the present application can be integrated into one processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The integrated module can be realized in the form of hardware or in the form of a software functional module. When the integrated module is realized in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0150] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present application.

Claims

1. A method of detecting a hand-off of a steering wheel of a vehicle, characterized by, The method comprises the following steps: acquiring a steering wheel torque signal of the vehicle when the vehicle is in a target assisted driving working condition; matching a state detection interval in which a torque value of the steering wheel torque signal is located; confirming a current steering wheel prediction state of the vehicle according to the state detection interval, and obtaining a hands-off detection result of the steering wheel according to the current steering wheel prediction state; the step of obtaining the hands-off detection result of the steering wheel according to the current steering wheel prediction state comprises: judging whether a latching time length of the vehicle satisfies a preset update condition when the current steering wheel prediction state satisfies a preset state latching condition; when the latching time length satisfies the preset update condition, taking the current steering wheel prediction state satisfying the preset state latching condition as the hands-off detection result, and updating a historical latching state of the vehicle based on the hands-off detection result, otherwise, obtaining the hands-off detection result from the historical latching state.

2. The method of claim 1, wherein, Before the step of confirming the current steering wheel prediction state of the vehicle according to the state detection interval, the method further comprises: calculating a standard deviation and a direct current component of the steering wheel torque signal, and detecting whether the standard deviation and / or the direct current component satisfies a first preset filtering condition; when the standard deviation and / or the direct current component satisfies the first preset filtering condition, outputting the current steering wheel prediction state as a hands-off state.

3. The method of claim 1, wherein, The step of confirming the current steering wheel prediction state of the vehicle according to the state detection interval comprises: judging whether the state detection interval satisfies a preset second filtering condition; if the state detection interval satisfies the preset second filtering condition, generating the current steering wheel prediction state according to the state detection interval, otherwise, confirming the current steering wheel prediction state according to a frequency signal feature of the steering wheel torque signal.

4. The method of claim 3, wherein, The step of confirming the current steering wheel prediction state according to the frequency signal feature of the steering wheel torque signal comprises: detecting whether a gain value and a frequency domain amplitude value of the frequency signal feature satisfies a preset third filtering condition; when the gain value and the frequency domain amplitude value satisfies the preset third filtering condition, confirming that the current steering wheel prediction state is a hands-on state, otherwise, confirming that the current steering wheel prediction state is a hands-off state.

5. The method of claim 1, wherein, Before the step of judging whether the latching time length of the vehicle satisfies the preset update condition, the method further comprises: confirming a time window maintenance state according to the current steering wheel prediction state and a historical steering wheel prediction state at a previous time; when the time window maintenance state reaches a preset period length, determining that the current steering wheel prediction state satisfies the preset state latching condition.

6. A hands-off detection device for a steering wheel of a vehicle, characterized by The method for detecting hands-off of a steering wheel of a vehicle according to any one of claims 1-5 comprises: an acquiring module configured to acquire a steering wheel torque signal of the vehicle when the vehicle is in a target assisted driving working condition; a matching module configured to match a state detection interval in which a torque value of the steering wheel torque signal is located; The detection module is configured to confirm a current steering wheel prediction state of the vehicle according to the state detection interval, and obtain a hands-off detection result of the steering wheel according to the current steering wheel prediction state.

7. The apparatus of claim 6, wherein, The detection module comprises: The detection unit is configured to calculate a standard deviation and a direct current component of the steering wheel torque signal before confirming the current steering wheel prediction state of the vehicle according to the state detection interval, and detect whether the standard deviation and / or the direct current component satisfies a first preset filtering condition; The output unit is configured to output the current steering wheel prediction state as a hands-off state when the standard deviation and / or the direct current component satisfies the first preset filtering condition.

8. A vehicle characterized by comprising: The method comprises: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the hands-off detection method of the vehicle steering wheel according to any one of claims 1-5.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the hands-off detection method of the vehicle steering wheel according to any one of claims 1-5.

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