Hand release detection method and device for steering wheel and computer storage medium

Abstract

The invention relates to a hand release detection method and device for a steering wheel and a computer storage medium. The hand release detection method for the steering wheel comprises the steps that first information is obtained, wherein the first information is one of torque information related to the steering wheel and image information related to the steering wheel and a driver; acquiring second information, wherein the second information is the other one of the torque information and the image information; determining a first sub-result of whether the steering wheel slips out of the hand based on the first information; determining a second sub-result of whether the steering wheel slips out of the hand or not based on the second information on the condition that the first sub-result is slips out of the hand and the condition that the first sub-result is not slipped out of the hand; and based on the first sub-result and the second sub-result, determining a final result of whether the steering wheel slips out of the hand. According to the hand-slip detection method, whether the steering wheel slips out of the hand or not is jointly determined based on the torque information and the image information, and double verification is conducted on hand-slip detection. The misjudgment of hand release detection can be reduced, and the driving safety is ensured.

Description

Technical Field

[0001] The invention relates to a hands-off detection method for a steering wheel, a hands-off detection device for a steering wheel and a computer storage medium. Background Art

[0002] Hands off detection (HOD) is used to detect whether the driver's hands are off the steering wheel. If the driver's hands are off the steering wheel for a period of time, the driver will be warned, thereby improving driving safety.

[0003] In the prior art, there are many methods for realizing hands-off steering wheel detection, for example, image recognition or torque detection.

[0004] However, the image recognition method is susceptible to unstable lighting, or if the detected objects overlap in space, it will be mistaken for physical contact. In the torque sensing method, if the driver's body parts other than hands touch the steering wheel, it will be mistakenly judged that the driver's hands are on the steering wheel.

[0005] Therefore, the conventional method for detecting hands-off steering wheels may produce misjudgments, resulting in inaccurate detection. Summary of the invention

[0006] An object of the present invention is to provide a hands-off detection method for a steering wheel, a hands-off detection device for a steering wheel, and a computer-readable medium for improving the accuracy of hands-off detection.

[0007] According to an embodiment of the present invention, a method for detecting a hands-off state of a steering wheel is provided, which comprises:

[0008] acquiring first information, the first information being one of torque information related to the steering wheel and image information related to the steering wheel and the driver;

[0009] acquiring second information, the second information being the other of the torque information and the image information;

[0010] Determine a first sub-result of whether the steering wheel is out of hands based on the first information;

[0011] When the first sub-result is hands-off and when the first sub-result is not hands-off, determining a second sub-result of whether the steering wheel is hands-off based on the second information respectively;

[0012] Based on the first sub-result and the second sub-result, a final result of whether the steering wheel is out of hands is determined.

[0013] According to an embodiment of the present invention, the first information is torque information, and the second information is image information, and the step of determining the first sub-result includes:

[0014] Establishing a steering system model, and calculating an estimated torque at the steering wheel end based on the torque information and the steering system model; and

[0015] Determine whether the estimated torque is greater than a preset torque threshold. When the estimated torque is greater than the preset torque threshold, the first sub-result is hands-on; when the estimated torque is less than or equal to the preset torque threshold, the first sub-result is hands-off.

[0016] According to an embodiment of the present invention, the step of determining the second sub-result includes at least one of the following steps:

[0017] Determining whether any part of the driver's body other than the driver's hands is in contact with the steering wheel;

[0018] Determining whether the hand is in contact with the rim of the steering wheel; and

[0019] Determine whether the contact area between the hand and the wheel rim is greater than a preset area threshold.

[0020] According to an embodiment of the present invention, when the first sub-result is sold, the step of determining the second sub-result includes:

[0021] Determine if any other body parts are in contact with the steering wheel.

[0022] Determine if the hand is in contact with the rim, and

[0023] determining whether the contact area is greater than a preset area threshold; and

[0024] In the case where the first sub-result is that the hand is not released, the step of determining the second sub-result includes determining whether the contact area is greater than a preset area threshold, wherein:

[0025] When the contact area is greater than a preset area threshold, the second sub-result is that the hand is not released, and when the contact area is less than or equal to the preset area threshold, the second sub-result is that the hand is released.

[0026] According to an embodiment of the present invention, the step of determining the final result includes:

[0027] If the first sub-result is not sold and the second sub-result is not sold, then the final result is determined to be not sold;

[0028] If the first sub-result is not sold and the second sub-result is sold, then the final result is determined to be sold;

[0029] If the first sub-result is sold and the second sub-result is not sold, then the final result is determined to be not sold;

[0030] If the first sub-result is a release and the second sub-result is a release, the final result is determined to be a release.

[0031] According to an embodiment of the present invention, the hands-off detection method further includes:

[0032] Get vehicle speed; and

[0033] Determine whether the vehicle speed is less than a preset vehicle speed threshold, and if the vehicle speed is less than the preset vehicle speed threshold, skip the step of determining the first sub-result based on the torque information.

[0034] According to an embodiment of the present invention, the first information is image information, the second information is torque information, and the step of determining the first sub-result includes at least one of the following steps:

[0035] Determining whether any part of the driver's body other than the driver's hands is in contact with the steering wheel;

[0036] Determining whether the hand is in contact with the rim of the steering wheel; and

[0037] Determine whether the contact area between the hand and the wheel rim is greater than a preset area threshold.

[0038] According to an embodiment of the present invention, the hands-off detection method further includes obtaining a vehicle speed and determining whether the vehicle speed is less than a vehicle speed threshold, wherein:

[0039] When the vehicle speed is less than the vehicle speed threshold, the step of determining the first sub-result includes:

[0040] Determine if any other body parts are in contact with the steering wheel.

[0041] Determine if the hand is in contact with the rim, and

[0042] determining whether the contact area is greater than a preset area threshold; and

[0043] When the vehicle speed is equal to or greater than the vehicle speed threshold, the step of determining the first sub-result includes determining whether the contact area is greater than a preset area threshold, wherein:

[0044] When the contact area is greater than a preset area threshold, the first sub-result is that the hand is not released, and when the contact area is less than or equal to the preset area threshold, the first sub-result is that the hand is released.

[0045] According to an embodiment of the present invention, the step of determining the final result includes:

[0046] If the first result is not released and the second result is not released, the final result is not released;

[0047] If the first result is not released and the second result is released, the final result is not released;

[0048] If the first result is released and the second result is not released, the final result is released;

[0049] If the first sub-result is a release and the second sub-result is a release, the final result is a release.

[0050] According to an embodiment of the present invention, the step of determining the second sub-result includes:

[0051] Establishing a steering system model, and calculating an estimated torque at the steering wheel end based on the torque information and the steering system model; and

[0052] Determine whether the estimated torque is greater than a preset torque threshold. If the estimated torque is greater than the preset torque threshold, determine the second sub-result as not being released; if the estimated torque is less than or equal to the preset torque threshold, determine the second sub-result as being released.

[0053] According to an embodiment of the present invention, a hands-off detection device for a steering wheel is provided, comprising:

[0054] A memory for storing instructions;

[0055] The processor is used to read instructions to execute the method according to the embodiment of the present invention.

[0056] According to an embodiment of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a program code, and when the program code runs on a computer, the computer executes a method according to an embodiment of the present invention.

[0057] According to the hands-off detection method for the steering wheel of the present invention, whether the steering wheel is off the hand is determined based on both torque information and image information. In other words, the hands-off detection of the steering wheel is double-verified. As a result, the misjudgment of the hands-off detection can be reduced, the accuracy of the hands-off detection can be improved, and driving safety can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 A flow chart of a method for detecting hands-off of a steering wheel according to a first embodiment of the present invention is shown.

[0059] Figure 2 A flow chart of a method for detecting hands-off of a steering wheel according to a second embodiment of the present invention is shown.

[0060] Figure 3 A data flow chart of a method for detecting a hands-off steering wheel according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0061] Below, the concept of the present invention will be described more fully with reference to the accompanying drawings. In this article, some embodiments of the concept of the present invention are shown. However, the concept of the present invention can be implemented in many different forms and should not be interpreted as being limited to the embodiments herein.

[0062] In this document, the terms "first" and "second" are used to describe various devices, but are not limiting. These terms are only used to distinguish one device from another device.

[0063] Figure 1 A flow chart of a method for detecting a hands-off steering wheel according to an embodiment of the present invention is shown. Figure 2 A flow chart of a method for detecting a hands-off steering wheel according to another embodiment of the present invention is shown. Figure 3 FIG. 2 is a data flow chart of a method for detecting a hands-off steering wheel according to an embodiment of the present invention. Figures 1 to 3 As shown, the method for detecting a hands-off steering wheel includes: acquiring torque information related to the steering wheel; and acquiring image information related to the steering wheel and the driver.

[0064] Torque information is information related to the twisting of the steering wheel. For example, the torque information can be obtained from a torque sensor of the steering system of the vehicle, or from a bus of the vehicle. The torque sensor can be various types of torque sensors, and can detect the magnitude of the torque applied to the steering wheel.

[0065] Image information is information related to the image of the steering wheel and the driver. For example, the image information can be obtained from one or more cameras installed on the vehicle. The camera is a device for photographing the driver sitting in the driver's seat, for example, it can be a visible light camera, an infrared camera, etc. The camera can be installed in an area where the driver's limbs and steering wheel can be photographed, for example, it can be installed near the front windshield, A-pillars, cockpit ceiling, etc.

[0066] The image information related to the driver may include information related to images of the driver's right hand, left hand, and body. After acquiring the image of the driver, the images of the driver's left hand, right hand, and body are processed, and key points of the driver's left hand, right hand, and body are identified. The image information related to the steering wheel may include information related to images of the rim and spokes of the steering wheel. After acquiring the image information related to the steering wheel, the rim and spokes of the steering wheel are identified. Then, the above key points and the image information of the spokes and rim of the steering wheel are merged to calculate the left hand gesture, right hand gesture, and body posture.

[0067] <First Embodiment>

[0068] like Figure 1As shown, the hands-off detection method further includes a first sub-result of determining whether the steering wheel is off based on the torque information. When the first sub-result is that the hands are off and when the first sub-result is that the hands are not off, a second sub-result of determining whether the steering wheel is off based on the image information is determined respectively; and a final result of determining whether the steering wheel is off based on the first sub-result and the second sub-result.

[0069] According to the hands-off detection method for the steering wheel of the present invention, it is determined whether the steering wheel is out of hand based on both torque information and image information. In other words, the hands-off detection of the steering wheel is double-verified. The hands-off detection based on image information is easily affected by unstable lighting. The detection based on torque information will not be affected by lighting, thus overcoming the defect of hands-off detection based solely on image information. When the detected objects overlap in space, the hands-off detection based on image information will be considered as physical contact, thereby misjudging the driver's hand on the steering wheel. The detection based on torque information overcomes this point. The detection based on torque information cannot identify the driver's body parts, so when the driver's body parts other than the hands touch the steering wheel, it will be misjudged as the driver's hand touching the steering wheel, while the detection based on image information overcomes this shortcoming. In summary, the hands-off detection method according to the present invention can reduce the misjudgment of hands-off detection, improve the accuracy of hands-off detection, and thus ensure driving safety.

[0070] The step of determining the first sub-result based on the torque information includes establishing a steering system model, and calculating the estimated torque at the steering wheel end based on the torque information and the steering system model. The steering system model may include a steering column module, a steering torsion bar module, and a steering gear module.

[0071] The step of determining the first sub-result based on the torque information also includes determining whether the estimated torque is greater than a preset torque threshold. When the estimated torque is greater than the preset torque threshold, the first sub-result is hands-on. In this case, the driver applies sufficient torque to the steering wheel. When the estimated torque is less than or equal to the preset torque threshold, the first sub-result is hands-off. At this time, the driver does not apply sufficient torque to the steering wheel.

[0072] The step of determining the second sub-result based on the image information includes at least one of the following steps: determining whether other body parts of the driver other than the hands are in contact with the steering wheel; determining whether the hands are in contact with the rim of the steering wheel; and determining whether the contact area between the hands and the rim is greater than a preset area threshold.

[0073] In one embodiment, when the first sub-result is hands-off, the step of determining the second sub-result includes: determining whether any body part of the driver other than the hands is in contact with the steering wheel; determining whether the hands are in contact with the rim of the steering wheel; and determining whether the contact area between the hands and the rim is greater than a preset area threshold.

[0074] Specifically, when it is determined that other body parts are in contact with the steering wheel, the final result is that the hands are off the wheel. For example, the other body parts may be the driver's knees, elbows, etc. In this case, the driver may contact the steering wheel with the knees, elbows, etc. In other words, the driver uses the steering wheel incorrectly. At this time, the driver is warned to remind the driver to drive in the correct way.

[0075] When it is determined that other parts of the body are not in contact with the steering wheel, it is determined whether the hand is in contact with the rim of the steering wheel. If the hand is not in contact with the rim, the final result is a hands-off situation. In this case, the driver's hand may be in contact with the hub of the steering wheel, that is, the driver is using the steering wheel incorrectly. At this time, a warning is given to the driver to remind the driver to drive in a correct way.

[0076] When it is determined that the hand is in contact with the wheel rim, it is determined whether the contact area between the hand and the wheel rim is greater than a preset area threshold. When it is determined that the contact area is less than or equal to the preset area threshold, the second sub-result is hands-off. In this case, the driver may only have fingers in contact with the steering wheel. When it is determined that the contact area is greater than the preset area threshold, the second sub-result is hands-on.

[0077] In the case where the first sub-result is that the hands are not released, the step of determining the second sub-result includes determining whether the contact area between the hand and the wheel rim is greater than a preset area threshold. When it is determined that the contact area is less than or equal to the preset area threshold, the second sub-result is that the hands are released. In this case, the driver may only have fingers in contact with the steering wheel. When it is determined that the contact area is greater than the preset area threshold, the second sub-result is that the hands are not released.

[0078] The step of determining the final result of whether the steering wheel is off the hands based on the first sub-result and the second sub-result comprises:

[0079] If the first sub-result is that the hand is not released and the second sub-result is that the hand is not released (that is, the contact area is greater than the preset area threshold), then the final result is determined to be that the hand is not released. In this case, the final result has a high confidence level.

[0080] If the first sub-result is hands-on and the second sub-result is hands-off (i.e., the contact area is less than or equal to the preset area threshold), then the final result is determined to be hands-off, in which case it is possible that the driver's fingers are in contact with the steering wheel;

[0081] If the first sub-result is release and the second sub-result is not release (i.e., the contact area is greater than the preset area threshold), the final result is determined to be not release, and the final result has a low confidence level;

[0082] If the first sub-result is a hand-off and the second sub-result is a hand-off (ie, the contact area is less than or equal to a preset area threshold), the final result is determined to be a hand-off.

[0083] The hands-off detection method further includes obtaining a vehicle speed and determining whether the vehicle speed is less than a vehicle speed threshold. When the vehicle speed is less than the vehicle speed threshold, the step of determining the first sub-result based on the torque information is skipped, and the step of determining the second sub-result based on the image information is proceeded. When the vehicle speed is equal to or greater than the vehicle speed threshold, the step of determining the first sub-result based on the torque information is proceeded.

[0084] The step of determining the second sub-result also includes identifying a body part in contact with the steering wheel. After identifying the body part, determining whether other body parts of the driver other than the hand are in contact with the steering wheel. The step of determining the second sub-result also includes identifying a contact area of ​​the steering wheel, and after identifying the contact area, determining whether the hand is in contact with the rim. The step of determining the second sub-result also includes reading a gesture of the driver, and after reading the gesture of the driver, determining whether the contact area is greater than a preset area threshold.

[0085] <Second Embodiment>

[0086] like Figure 2 As shown, the hands-off detection method further includes a first sub-result of determining whether the hands-off steering wheel is off based on the image information. When the first sub-result is hands-off and when the first sub-result is not hands-off, a second sub-result of determining whether the hands-off steering wheel is off based on the torque information, respectively. Based on the first sub-result and the second sub-result, a final result of determining whether the hands-off steering wheel is off is determined.

[0087] According to the hands-off detection method for the steering wheel of the present invention, it is determined whether the steering wheel is out of hand based on both torque information and image information. In other words, the hands-off detection of the steering wheel is double-verified. The hands-off detection based on image information is easily affected by unstable lighting. The detection based on torque information will not be affected by lighting, thus overcoming the defect of hands-off detection based solely on image information. When the detected objects overlap in space, the hands-off detection based on image information will be considered as physical contact, thereby misjudging the driver's hand on the steering wheel. The detection based on torque information overcomes this point. The detection based on torque information cannot identify the driver's body parts, so when the driver's body parts other than the hands touch the steering wheel, it will be misjudged as the driver's hand touching the steering wheel, while the detection based on image information overcomes this shortcoming. In summary, the hands-off detection method according to the present invention can reduce the misjudgment of hands-off detection, improve the accuracy of hands-off detection, and thus ensure driving safety.

[0088] The step of determining the first sub-result based on the image information includes at least one of the following steps: determining whether other body parts of the driver except the hands are in contact with the steering wheel; determining whether the hands are in contact with the rim of the steering wheel; and determining whether the contact area between the hands and the rim is greater than a preset area threshold.

[0089] The hands-off detection method also includes obtaining a vehicle speed and determining whether the vehicle speed is less than a vehicle speed threshold.

[0090] When the vehicle speed is less than a vehicle speed threshold, the steps of determining the first sub-result include: determining whether any body part of the driver other than the hands is in contact with the steering wheel; determining whether the hands are in contact with the rim of the steering wheel; and determining whether the contact area between the hands and the rim is greater than a preset area threshold.

[0091] Specifically, when it is determined that other body parts are in contact with the steering wheel, the final result is that the hands are off the steering wheel. For example, the other body parts may be the driver's knees, elbows, etc. In this case, the driver may contact the steering wheel with the knees, elbows, etc., that is, the driver uses the steering wheel incorrectly. At this time, the driver is warned to remind the driver to drive in the correct way.

[0092] When it is determined that other parts of the body are not in contact with the steering wheel, it is determined whether the hand is in contact with the rim of the steering wheel. If the hand is not in contact with the rim, the final result is a hands-off situation. In this case, the driver's hand may be in contact with the hub of the steering wheel, that is, the driver is using the steering wheel incorrectly. At this time, a warning is given to the driver to remind the driver to drive in a correct way.

[0093] When it is determined that the hand is in contact with the wheel rim, it is determined whether the contact area between the hand and the wheel rim is greater than a preset area threshold. When it is determined that the contact area is less than or equal to the preset area threshold, the first sub-result is hands-off. In this case, the driver may only have fingers in contact with the steering wheel. When it is determined that the contact area is greater than the preset area threshold, the first sub-result is hands-on.

[0094] When the vehicle speed is equal to or greater than the vehicle speed threshold, the step of determining the first sub-result includes determining whether the contact area is greater than a preset area threshold. When it is determined that the contact area is less than or equal to the preset area threshold, the first sub-result is hands-off. In this case, the driver may only have fingers in contact with the steering wheel. When it is determined that the contact area is greater than the preset area threshold, the first sub-result is hands-on.

[0095] The step of determining the final result of whether the steering wheel is off the hands based on the first sub-result and the second sub-result comprises:

[0096] If the first sub-result is that the hand is not released (i.e., the contact area is greater than the preset area threshold) and the second sub-result is that the hand is not released, then the final result is that the hand is not released, and the final result has a high confidence level;

[0097] If the first sub-result is not released (i.e., the contact area is greater than the preset area threshold) and the second sub-result is released, the final result is not released, and the final result has a low confidence level;

[0098] If the first sub-result is hands-off (i.e., the contact area is less than or equal to the preset area threshold) and the second sub-result is hands-on, then the final result is hands-off, in which case it is likely that the driver's fingers are in contact with the steering wheel;

[0099] If the first sub-result is a hand-off (ie, the contact area is less than or equal to a preset area threshold) and the second sub-result is a hand-off, the final result is a hand-off.

[0100] The step of determining the first sub-result also includes identifying a body part in contact with the steering wheel. After identifying the body part, determining whether other body parts of the driver other than the hand are in contact with the steering wheel. The step of determining the first sub-result also includes identifying a contact area of ​​the steering wheel, and after identifying the contact area, determining whether the hand is in contact with the rim. The step of determining the first sub-result also includes reading a gesture of the driver, and after reading the gesture of the driver, determining whether the contact area is greater than a preset area threshold.

[0101] The step of determining the second sub-result based on the torque information includes establishing a steering system model, and calculating the estimated torque at the steering wheel end based on the torque information and the steering system model. The steering system model may include a steering column module, a steering torsion bar module, and a steering gear module.

[0102] The step of determining the second sub-result based on the torque information also includes determining whether the estimated torque is greater than a preset torque threshold. When the estimated torque is greater than the preset torque threshold, the second sub-result is hands-on. In this case, the driver applies sufficient torque to the steering wheel. When the estimated torque is less than or equal to the preset torque threshold, the second sub-result is hands-off. At this time, the driver does not apply sufficient torque to the steering wheel.

[0103] The hands-off detection method also includes providing an alert or notification to the driver that the driver needs to properly hold the steering wheel. In some cases, the alert or notification may include an audio or visual prompt or signal.

[0104] An embodiment of the present invention further provides a hands-off detection device for a steering wheel. The hands-off detection device includes a memory for storing instructions; a processor for reading the instructions to execute a hands-off detection method for a steering wheel provided according to an embodiment of the present invention. The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc.

[0105] The embodiment of the present invention also provides a computer-readable storage medium. The computer-readable storage medium stores program code, and when the program code is run on a computer, the computer executes the steps in the method for detecting the hand-off of the steering wheel provided in accordance with the embodiment of the present invention. The computer-readable storage medium may include any entity or device capable of carrying computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc. The computer program includes computer program code. The computer program code may be in source code form, object code form, an executable file, or some intermediate form, etc.

[0106] Any process or method description described in this document may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing a specific logical function or process step, and it may be understood that embodiments of the present invention may not be performed in the order described, and may be executed in a substantially simultaneous manner or in the reverse order depending on the functions involved.

[0107] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

Claims

1. A method for detecting a hands-off state of a steering wheel, comprising: acquiring first information, wherein the first information is one of torque information related to the steering wheel and image information related to the steering wheel and the driver; acquiring second information, where the second information is the other of the torque information and the image information; Determine a first sub-result of whether the steering wheel is out of hands based on the first information; When the first sub-result is hands-off and when the first sub-result is not hands-off, determining a second sub-result of whether the steering wheel is hands-off based on the second information respectively; A final result of whether the steering wheel is out of hands is determined based on the first sub-result and the second sub-result.

2. The hands-off detection method according to claim 1, wherein: The first information is the torque information, and the second information is the image information, and the step of determining the first sub-result includes: Establishing a steering system model, and calculating an estimated torque at a steering wheel end based on the torque information and the steering system model; and Determine whether the estimated torque is greater than a preset torque threshold. When the estimated torque is greater than the preset torque threshold, the first sub-result is hands-on; when the estimated torque is less than or equal to the preset torque threshold, the first sub-result is hands-off.

3. The hands-off detection method according to claim 2, wherein: The step of determining the second sub-result comprises at least one of the following steps: determining whether any body part of the driver other than the hands is in contact with the steering wheel; determining whether the hand is in contact with a rim of the steering wheel; and Determine whether the contact area between the hand and the wheel rim is greater than a preset area threshold.

4. The hands-off detection method according to claim 3, wherein: In the case where the first sub-result is sold, the step of determining the second sub-result includes: determining whether the other body part is in contact with the steering wheel, determining whether the hand is in contact with the wheel rim, and Determining whether the contact area is greater than the preset area threshold; and In the case where the first sub-result is that the hand is not released, the step of determining the second sub-result includes determining whether the contact area is greater than the preset area threshold, wherein: When the contact area is greater than the preset area threshold, the second sub-result is that the hand is not released, and when the contact area is less than or equal to the preset area threshold, the second sub-result is that the hand is released.

5. The hands-off detection method according to claim 4, wherein: The steps of determining the final result include: If the first sub-result is not sold and the second sub-result is not sold, determining the final result is not sold; If the first sub-result is not sold and the second sub-result is sold, determining the final result is sold; If the first sub-result is sold and the second sub-result is not sold, determining the final result as not sold; If the first sub-result is a release and the second sub-result is a release, the final result is determined to be a release.

6. The hands-off detection method according to any one of claims 2 to 5, further comprising: Get vehicle speed; and Determine whether the vehicle speed is less than a preset vehicle speed threshold, and if the vehicle speed is less than the preset vehicle speed threshold, skip the step of determining the first sub-result based on the torque information.

7. The hands-off detection method according to claim 1, wherein: The first information is the image information, the second information is the torque information, and the step of determining the first sub-result includes at least one of the following steps: determining whether any body part of the driver other than the hands is in contact with the steering wheel; determining whether the hand is in contact with a rim of the steering wheel; and Determine whether the contact area between the hand and the wheel rim is greater than a preset area threshold.

8. The hands-off detection method according to claim 7, further comprising obtaining a vehicle speed and determining whether the vehicle speed is less than a vehicle speed threshold, wherein: When the vehicle speed is less than the vehicle speed threshold, the step of determining the first sub-result includes: determining whether the other body part is in contact with the steering wheel, determining whether the hand is in contact with the wheel rim, and Determining whether the contact area is greater than the preset area threshold; and When the vehicle speed is equal to or greater than the vehicle speed threshold, the step of determining the first sub-result includes determining whether the contact area is greater than the preset area threshold, wherein: When the contact area is greater than the preset area threshold, the first sub-result is that the hand is not released, and when the contact area is less than or equal to the preset area threshold, the first sub-result is that the hand is released.

9. The hands-off detection method according to claim 8, wherein: The steps of determining the final result include: If the first sub-result is not sold and the second sub-result is not sold, the final result is not sold; If the first sub-result is not sold and the second sub-result is sold, the final result is not sold; If the first sub-result is sold and the second sub-result is not sold, the final result is sold; If the first sub-result is a let-go and the second sub-result is a let-go, the final result is a let-go.

10. The hands-off detection method according to any one of claims 7 to 9, wherein: The step of determining the second sub-result comprises: Establishing a steering system model, and calculating an estimated torque at a steering wheel end based on the torque information and the steering system model; and Determine whether the estimated torque is greater than a preset torque threshold. When the estimated torque is greater than the preset torque threshold, determine that the second sub-result is not released. When the estimated torque is less than or equal to the preset torque threshold, determine that the second sub-result is released.

11. A hands-off detection device for a steering wheel, comprising: A memory for storing instructions; A processor, configured to read the instruction to execute the method according to any one of claims 1 to 10.

12. A computer-readable storage medium, wherein: The computer-readable storage medium stores a program code, and when the program code is executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 10.

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