Vehicle operation with steering wheel hand grip / release detection

Abstract

The invention provides vehicle operation with steering wheel hand grip / release detection. A system includes a computer including a processor and a memory. The memory includes instructions executable by the processor to measure a torque applied to a steering element of a vehicle in a direction opposite to a movement of the actuation when the movement of the steering element is actuated. In response to determining that the torque is less than a predetermined threshold, the processor actuates a component of the vehicle.

Description

Technical Field

[0001] The present disclosure provides techniques for controlling vehicle components, features, and / or systems in response to determining whether an operator's hand is in contact with a vehicle steering wheel. Background Art

[0002] Torque sensors can be used in a vehicle steering system to assist in determining, for example, the amount of torque applied to the steering wheel by an operator's hand and / or due to some other source. Summary of the Invention

[0003] The present disclosure provides a system that includes a computer having a processor and a memory. The memory includes instructions that are executable by the processor to measure, when actuating a movement of a steering element of a vehicle, a torque applied to the steering element in a direction opposite to the actuated movement. The instructions can include instructions for actuating a component of the vehicle in response to determining that the torque is less than a predetermined threshold.

[0004] The instructions for actuating the movement of the steering element can include instructions for rotating the steering element in a first rotational direction and then rotating the steering element in a second rotational direction opposite to the first rotational direction.

[0005] The instructions can include additional instructions for: determining that the vehicle is turning, and in response to determining that the vehicle is turning, rotating the steering element in a direction opposite to the direction in which the vehicle is turning.

[0006] The predetermined threshold can be determined empirically.

[0007] The instructions for actuating the movement of the steering element can include instructions for rotating the steering element from a center position to a specified angular offset.

[0008] The instructions for actuating a component of the vehicle can include instructions for providing an output indicating to return the steering element to the center position.

[0009] The system can further include a first actuator for actuating the movement of the steering element and a second actuator for controlling the direction of the vehicle.

[0010] The instructions for actuating the movement of the steering element can include instructions for randomly activating the first actuator to rotate the steering element independently of the second actuator.

[0011] The instructions for actuating a component of the vehicle can include instructions for actuating vehicle brakes.

[0012] The instructions for actuating the component of the vehicle may include instructions for providing an audio and / or video output.

[0013] A method includes measuring a torque applied to a steering element of a vehicle in a direction opposite to a movement of the actuation while actuating the movement of the steering element of the vehicle. The method may include actuating a component of the vehicle in response to determining that the torque is less than a predetermined threshold.

[0014] Actuating the movement of the steering element may include rotating the steering element in a first rotational direction and subsequently rotating the steering element in a second rotational direction opposite to the first rotational direction.

[0015] The method may further include determining that the vehicle is turning and rotating the steering element in a direction opposite to the direction in which the vehicle is turning in response to determining that the vehicle is turning.

[0016] Actuating the movement of the steering element may include rotating the steering element from a center position to a specified angular offset.

[0017] Actuating the component of the vehicle may include providing an audio and / or video output indicating to return the steering element to the center position. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a block diagram of an exemplary system for a vehicle.

[0019] Figure 2 is a diagram showing a steering component of a vehicle.

[0020] Figure 3 is a process flow diagram showing an exemplary process for hand grip / release detection. DETAILED DESCRIPTION

[0021] The present disclosure provides techniques for controlling vehicle components, features, and / or systems in response to determining whether an operator's hand is in contact with a vehicle steering wheel. In an example, a vehicle steering system actuates movement of the steering wheel and measures the torque applied to the steering wheel in a direction opposite to the actuated movement. In an example, the steering wheel moves back and forth (e.g., in a sine wave), where the movement is small enough so as not to affect the direction of the vehicle. When at least one of the actuated back-and-forth movements is resisted by the hand of an operator in contact with the steering wheel, the resulting torque measurement is higher than, for example, a measurement caused by steering column friction or caused by the operator's hand gently resting on the steering wheel. This higher torque measurement allows for a higher threshold, above which the system can make a better determination than might otherwise be possible when the operator has their hand on the steering wheel. The threshold torque can be a predetermined threshold that is typically set higher than the torque measurement caused by, for example, steering column friction. Thus, this higher threshold can provide a reliable determination of whether the operator's hand is in contact with the vehicle steering wheel.

[0022] In response to determining that the measured torque is less than a predetermined threshold, the system can actuate components and / or systems of the vehicle. In an example, in response to determining that an operator's hand has moved away from contact with the steering wheel, the system can generate an output to notify the operator to place one or more hands in contact with the steering wheel. In another example, in response to determining that an operator's hand is currently in contact with the steering wheel, the system can actuate and / or maintain a current assisted driving mode.

[0023] A system including a computer is disclosed herein, the computer having a processor and a memory. The memory includes instructions that can be executed by the processor to measure the torque applied to a steering element of the vehicle in a direction opposite to the actuated movement of the steering element when the movement of the steering element of the vehicle is actuated. The instructions can include instructions for actuating components of the vehicle in response to determining that the torque is less than a predetermined threshold.

[0024] The instructions for actuating the movement of the steering element can include instructions for rotating the steering element in a first rotational direction and then rotating the steering element in a second rotational direction opposite to the first rotational direction.

[0025] The instructions can include additional instructions for: determining that the vehicle is turning, and in response to determining that the vehicle is turning, rotating the steering element in a direction opposite to the direction in which the vehicle is turning.

[0026] The predetermined threshold can be determined empirically.

[0027] The instructions for actuating the movement of the steering element can include instructions for rotating the steering element from a center position to a specified angular offset.

[0028] The instructions for actuating the components of the vehicle may include instructions for providing an output indicative of returning the steering element to the center position.

[0029] The system may further include a first actuator for actuating the movement of the steering element and a second actuator for controlling the direction of the vehicle.

[0030] The instructions for actuating the movement of the steering element may include instructions for randomly activating the first actuator to rotate the steering element independently of the second actuator.

[0031] The instructions for actuating the components of the vehicle may include instructions for actuating a vehicle brake.

[0032] The instructions for actuating the components of the vehicle may include instructions for providing an audio and / or video output.

[0033] Disclosed herein is a method that includes measuring a torque applied to a steering element of a vehicle in a direction opposite to a movement of the actuation when actuating the movement of the steering element of the vehicle. The method may include actuating a component of the vehicle in response to determining that the torque is less than a predetermined threshold.

[0034] Actuating the movement of the steering element may include rotating the steering element in a first rotational direction and subsequently rotating the steering element in a second rotational direction opposite to the first rotational direction.

[0035] The method may further include determining that the vehicle is turning and rotating the steering element in a direction opposite to the direction in which the vehicle is turning in response to determining that the vehicle is turning.

[0036] Actuating the movement of the steering element may include rotating the steering element from a center position to a specified angular offset.

[0037] The specified angular offset may be approximately 45 degrees.

[0038] Actuating the components of the vehicle may include providing an audio and / or video output indicative of returning the steering element to the center position.

[0039] The method may further include activating a first actuator to actuate the movement of the steering element and activating a second actuator to control the direction of the vehicle.

[0040] Actuating the movement of the steering element may include randomly rotating the steering element.

[0041] The predetermined threshold may be determined empirically.

[0042] Actuating a component of the vehicle may include providing an audio and / or video output command.

[0043] Figure 1 is a block diagram of an exemplary vehicle. As Figure 1 shown, system 100 includes vehicle 102, which includes computer 104 communicatively coupled via vehicle network 106 to various elements including sensors 108, subsystems or components 110 (such as steering, propulsion, and braking), human machine interface (HMI) 112, and communication component 114. Computer 104, as well as server 118 discussed below, includes a processor and a memory. The memory of a computer 104 such as described herein includes one or more forms of non-transitory computer 104-readable media and may store instructions executable by computer 104 for performing various operations such that the vehicle computer is configured to perform various operations including those disclosed herein.

[0044] For example, computer 104 may include a general-purpose computer having a processor and a memory as described above, and / or may include an electronic control unit (ECU) or controller for a particular function or set of functions, and / or a dedicated electronic circuit including an ASIC (application specific integrated circuit) fabricated for a particular operation (e.g., an ASIC for processing data from sensors and / or transmitting data from sensors 108). In another example, computer 104 may include an FPGA (field programmable gate array), which is an integrated circuit fabricated to be configurable by a user. In an exemplary embodiment, a hardware description language such as VHDL (very high speed integrated circuit hardware description language) may be used in electronic design automation to describe digital and mixed-signal systems such as FPGAs and ASICs. For example, an ASIC is fabricated based on VHDL programming provided prior to manufacturing, while the logic components within an FPGA may be configured based on, for example, VHDL programming stored in a memory electrically connected or coupled to the FPGA circuit. In some examples, a combination of a processor, ASIC, and / or FPGA circuitry may be included in computer 104. Additionally, computer 104 may include multiple computers in a vehicle (e.g., multiple ECUs, etc.) that operate together to perform the operations ascribed to computer 104 herein.

[0045] The memory of computer 104 can include any type, such as a hard disk drive, a solid state drive, or any other volatile or non-volatile medium. The memory can store the collected data transmitted by sensor 108. The memory can be a device separate from computer 104, and computer 104 can retrieve the information stored by the memory via a communication network in the vehicle (such as vehicle network 106) (e.g., through a Controller Area Network (CAN) bus, a Local Interconnect Network (LIN) bus, a wireless network, etc.). Alternatively or additionally, the memory can be part of computer 104, such as memory internal to computer 104.

[0046] Computer 104 can include or access instructions to operate one or more components 110, such as vehicle braking, propulsion (e.g., one or more of an internal combustion engine, an electric motor, a hybrid engine, etc.), steering, climate control, interior lights and / or exterior lights, infotainment, navigation, etc., and determine whether and when computer 104 (as opposed to a human operator) controls such operations. Computer 104 can include more than one processor or be communicatively coupled to more than one processor, for example, via vehicle network 106, and the processors can be included in components 110 (such as sensor 108, an electronic control unit (ECU), etc.) included in the vehicle for monitoring and / or controlling various vehicle components (e.g., a powertrain controller, a braking controller, a steering controller, etc.).

[0047] Vehicle sensor 108 can also include a torque sensor 122, which can be any suitable torque sensor operative to measure the torque (i.e., torsional moment) applied to a steering element (e.g., steering wheel 124) when an operator applies a rotational force to the steering wheel to control the heading of vehicle 102. In an example, torque sensor 122 is mounted to steering system 126 to measure torque in the range of 0.02 Newton meters (N-m) to 2.0 N-m. Torque sensor 122 can include a calibrated strain gauge, for example, to provide a voltage signal proportional to the torque applied to steering wheel 124. In an example, when vehicle 102 is moving along path 150, torque sensor 122 is capable of measuring, always or almost always, the torque with which an operator steers vehicle 102 with at least one hand in contact with steering wheel 124. In response to an operator removing their hand from steering wheel 124, torque sensor 122 can measure zero torque or only a small amount of torque caused, for example, by friction in steering system 126. In an exemplary embodiment, torque sensor 122 can measure the overall torque or total torque experienced by steering wheel 124, which can include the torque applied by the operator of vehicle 102. The overall torque measured by torque sensor 122 can include parasitic or frictional torque contributions, such as those exerted by the static and dynamic components of steering system 126.

[0048] As used herein, the reference Figure 2 to the steering system described in more detail refers to a set of mechanical and / or mechatronic components for steering a vehicle 102. Thus, for example, the steering system 126 can include a steering wheel 124 and a steering column connected to the steering wheel 124. The steering system 126 can also include an electric power steering (EPAS) motor that operates to amplify and / or increase the torque transmitted from the steering wheel 124 to a pinion gear located on a steering rack of the vehicle 102. The steering system 126 can also include bushings, seals, hydraulic couplings, steering rods, steering dampers, etc. that assist in controlling the heading of the vehicle 102 as the vehicle moves along a path 150. It should be noted that although Figure 1 and Figure 2 a steering wheel is shown, the techniques described herein can be applied to steering elements other than the steering wheel of a vehicle, such as joysticks, aircraft control levers, etc.

[0049] The computer 104 can generally be arranged to communicate over a vehicle network 106, which can include a communication bus in the vehicle, such as a controller area network CAN, etc., and / or other wired and / or wireless mechanisms. The vehicle network 106 corresponds to a communication network that can facilitate the exchange of messages between various on-vehicle devices (e.g., sensors 108, components 110, computer 104). The computer 104 can generally be programmed to send and / or receive messages to and / or from other devices in the vehicle 102 (e.g., any one or all of an ECU, sensors 108, actuators, components 110, communication components 114, HMI 112) via the vehicle network 106. For example, subsystems of the various components 110 (e.g., components 110) can be controlled by the respective ECU.

[0050] Furthermore, in embodiments where the computer 104 actually includes multiple devices, the vehicle network 106 can be used for communication between the devices represented as the computer 104 in the present disclosure. For example, the vehicle network 106 can provide communication capabilities via a wired bus (such as a CAN bus, LIN bus), or can utilize any type of wireless communication capabilities. The vehicle network 106 can include any other wired communication technology and / or wireless communication technology used therein (e.g., Ethernet,[ a network for communicating messages such as etc. In some embodiments, additional examples of protocols that can be used for communication via the vehicle network 106 include, but are not limited to, Media Oriented Systems Transport (MOST), Time-Triggered Protocol (TTP), and FlexRay. In some embodiments, the vehicle network 106 can represent a combination of multiple networks (possibly of different types) that support communication between devices on the vehicle. For example, the vehicle network 106 can include: a CAN bus, through which some in-vehicle sensors and / or components communicate; and a wired or wireless local area network, where a device in the vehicle communicates according to Ethernet, and / or Bluetooth communication protocols.

[0051] In addition to the torque sensor 122, the vehicle 102 generally also includes various sensors 108. The sensors 108 can include a set of devices that can obtain one or more measurements of one or more physical phenomena. Some sensors 108 can detect data characterizing the operating environment of the vehicle, such as vehicle speed (e.g., from vehicle wheel speed sensors), vehicle towing parameters, vehicle braking parameters, engine torque output, engine and transmission temperature, battery temperature, vehicle steering angle, etc. Some sensors 108 can detect data characterizing the physical environment of the vehicle 102, such as ambient air temperature, humidity, weather conditions (e.g., rain, snow, etc.), parameters related to the inclination or gradient of the road or other types of paths on which the vehicle is moving forward, etc. In an example, the sensors 108 can operate to detect the position or orientation of the vehicle using signals from, for example: satellite positioning systems (e.g., Global Positioning System or GPS); accelerometers, such as piezoelectric or microelectromechanical system MEMS; gyroscopes, such as rate gyroscopes, ring laser gyroscopes, or fiber optic gyroscopes; inertial measurement units IMU; and magnetometers. In an example, the sensors 108 can include sensors for detecting aspects of the environment external to the vehicle 102, such as radar sensors, scanning lidar, cameras, etc. The sensors 108 can also include optical detection and ranging (lidar) sensors that operate to detect the distance to an object by emitting laser pulses and measuring the time of flight of the pulses as they travel to the object and return. The sensors 108 can include a controller and / or a microprocessor that executes instructions to perform, for example, analog-to-digital conversion to convert the sensed analog measurements and / or observations into input signals that can be provided to the computer 104 via the vehicle network 106, for example.

[0052] The computer 104 may be configured to utilize vehicle-to-vehicle (V2V) communication via the communication component 114 and / or may interface with devices external to the vehicle via, for example, V2V communication through a wide area network (WAN) 116. The computer 104 may communicate external to the vehicle 102, such as via vehicle-to-infrastructure (V2I) communication, vehicle-to-everything (V2X) communication, or V2X and / or wireless communication including cellular communication C-V2X and dedicated short range communication DSRC, etc. Communication external to the vehicle 102 may be facilitated through direct radio frequency communication and / or via a network server 118. The communication component 114 may include one or more mechanisms by which the computer 104 communicates with vehicles external to the vehicle 102, including any desired combination of wireless (e.g., cellular, wireless, satellite, microwave, radio frequency) communication mechanisms and any one or more desired network topologies (when multiple communication mechanisms are used).

[0053] The vehicle 102 may include an HMI 112, such as one or more of an infotainment display, a touchscreen display, a microphone, a speaker, a haptic device, etc. A user (such as an operator of the vehicle 102) may provide input to a device (such as the computer 104) via the HMI 112. The HMI 112 may communicate with the computer 104 via the vehicle network 106. For example, the HMI 112 may send a message to the computer 104 including user input provided via a touchscreen, a microphone, a camera that captures gestures, etc., and / or may display output via, for example, a display, a speaker, etc. Additionally, the operation of the HMI 112 may be performed by a portable user device (not shown) (such as a smartphone, etc.) that communicates with the computer 104 via, for example, Bluetooth, etc.

[0054] The WAN 116 may include one or more mechanisms by which the computer 104 may communicate with the server 118. The server 118 may include a device having one or more computing devices accessible via the WAN 116, for example, having corresponding processors and memories and / or associated data storage areas. In an exemplary embodiment, the vehicle 102 may include a wireless transceiver (i.e., a transmitter and / or a receiver) to send messages external to the vehicle 102 and receive messages external to the vehicle. Thus, the network may include one or more of a variety of wired or wireless communication mechanisms, including any desired combination of wired (e.g., cable and fiber optic) and / or wireless (e.g., cellular, wireless, satellite, microwave, and radio frequency) communication mechanisms and any one or more desired network topologies (when multiple communication mechanisms are used). Exemplary communication networks include, for example, wireless communication networks using Bluetooth, Bluetooth Low Energy BLE, IEEE 802.11, V2V or V2X (such as cellular V2X CV2X, DSRC, etc.), local area networks, and / or the wide area network 116 including the Internet.

[0055] Figure 2 FIG. is a diagram showing the steering components of an exemplary steering system 126 of a vehicle 102. The steering system 126 includes a steering wheel 124, on which one or both hands of an operator 205 of the vehicle 102 can be placed to control the heading of the vehicle 102. The steering wheel 124 can be coupled to a steering column 215. In some examples, a torque sensor 122 is located in the steering column 215 near the steering wheel 124. The steering wheel 124 and the steering column 215 are shown coupled to a shaft 225 via a coupling 220, which can include, for example, a universal joint. The shaft 225 transmits the torque applied by the operator's hand 205 to an EPAS motor 240 using a coupling 230. The EPAS motor 240 can operate to amplify and / or increase the torque applied to the steering wheel 124 to actuate a steering rack 250, thereby controlling the heading of the vehicle 102. The EPAS motor 240 can be used to actuate the movement of the steering wheel 124, and the torque sensor 122 can measure the torque (if any) applied to the steering wheel 124 in response to the actuated movement. When the operator holds the steering wheel 124, the torque sensor 122 will measure the torque in a direction opposite to the actuated movement.

[0056] In an example, the steering wheel 124 moves back and forth (e.g., in a sine wave) a small amount so as not to affect the direction of the vehicle 102. In other words, the steering wheel can rotate in a first rotational direction and then rotate in a second rotational direction opposite to and generally equal to the first rotational direction. When at least one of the actuated movements is resisted by the hand of the operator in contact with the steering wheel 124, the resulting torque measurement is higher than, for example, a measurement caused by steering column friction or by the hand of the operator gently resting on the steering wheel. This higher torque measurement allows for the establishment of a higher predetermined threshold to compare with the torque measurement, thus generally providing a more reliable determination of whether the hand of the operator is in contact with the vehicle steering wheel. In examples where more than one torque measurement is obtained (e.g., measurements caused by the back-and-forth movement), the resulting measurements can be averaged, for example, or the highest measurement can be used to compare with the predetermined threshold.

[0057] In another example, in response to determining that the vehicle is turning, the steering wheel rotates in a direction opposite to the direction in which the vehicle is turning (i.e., counter-steering). In other words, the vehicle is positioned off-center on the outside of the turn. In an alternative example, the vehicle is positioned off-center on the inside of the turn. In both examples, the vehicle remains within the lane. As used herein, turning refers to changing the direction of the vehicle, for example, by adjusting the angle of the front wheels by changing the angle of the steering rack 250. When the operator applies a rotational force to the steering wheel to change the direction of the vehicle (i.e., heading or yaw), the counter-steering torque applied does not interfere with the lateral control of the vehicle. One way to do this is to specifically supply torque based on the road curvature, which can be measured, for example, by detecting lane lines using a front camera. That is, instead of applying a sine wave, the actuated rotation of the steering wheel can be specifically tailored to act as a counter-steering resistance. In this way, it acts as a lateral control damper rather than noise, which enables an increase in torque supply. For example, when turning, the operator can expect large changes in the steering input. In such a case, the system can introduce larger input changes without the driver noticing.

[0058] In an alternative example, the steering column 215 also includes an actuator 210 that operates to move (i.e., rotate) the steering wheel 124 separately from the steering rack 250. The actuator 210 can be part of a steer-by-wire system where the shaft 225 and the couplings 220 and 230 are removed or selectively disengaged (e.g., using a clutch mechanism) from the steering system 126. In a steer-by-wire system, the EPAS motor 240 can, in some cases, control the angle of the front wheels independently of the steering wheel 124. Thus, the steer-by-wire system can supply any necessary amount of torque to the steering wheel 124 via the actuator 210 for hand grip / relax detection without interfering with the lateral control of the vehicle. In this case, the actuator 210 can supply a larger amount of torque in the form of a sine wave or counter-steering. The torque can be continuously increased until the steering wheel 124 moves significantly, while, if needed, commanding the operator to grip the steering wheel, for example, via the HMI 112.

[0059] For example, in the case of computer 104 assisted steering, the actuator 210 can move the steering wheel 124 to a significantly offset position (e.g., 45 degrees to the right) without affecting the direction of the vehicle. The operator can then be notified that they need to return the steering wheel 124 to the straight-ahead or centered position (0 degrees) and hold the steering wheel in that position. It is then determined that the operator has placed their hand on the steering wheel 124 because they are forcing the steering wheel to remain centered within a tolerance (e.g., -5 degrees to 5 degrees). In this example, the system can additionally employ a steering wheel angle sensor to monitor the position of the steering wheel relative to the upright position.

[0060] For example, an operator may attempt to deceive the hand grip / release detection system by adding weight to the steering wheel 124. To mitigate this, the direction and / or intensity of the torque applied in a sine wave or reverse steering implementation can be varied and / or randomized when performing hand hold / release detection. In an example, the torque applied to actuate the steering wheel 124 can be gradually increased. If the operator places their hand on the steering wheel 124, the measured torque on the steering wheel 124 is expected to increase as the operator attempts to compensate for the increased torque. In contrast, if weight is added to the steering wheel 124, the measured torque is expected to remain roughly constant, indicating potential deception. In another example, in the context of a steer-by-wire system, the computer 104 can randomly activate a first actuator (e.g., actuator 210) to rotate the steering wheel 124 independently of a second actuator (e.g., EPAS motor 240) that controls the angle of the front wheels. The measured torque on the steering wheel 124 in response to the random steering wheel movement can help identify deception. For example, similar torque measurements for multiple steering wheel movements with different amplitudes and directions can indicate deception, such as weight being added to the steering wheel 124. In an example, the steering wheel angle can be randomly selected from approximately -90 degrees to +90 degrees.

[0061] A predetermined torque threshold can be determined empirically. For example, the steering system friction torque can be measured from a number of sample vehicles and / or steering systems to select the highest expected friction torque. The threshold can then be set to a value higher than the highest expected friction torque. For example, based on empirical data, the highest expected friction torque can be multiplied by, for example, two or three times to set the predetermined threshold.

[0062] In response to the measured torque being higher than the predetermined threshold to indicate contact of one or more hands of the operator of the vehicle 102 with the steering wheel 124, the vehicle assisted driving application can operate in a mode suitable for vehicle operation when the operator's hand is in contact with the steering wheel, such as lane keeping assist and lane centering assist. In response to the measured torque from one or more hands of the operator being lower than the predetermined threshold to indicate that the operator's hand has moved away from the steering wheel 124 or is not on the steering wheel, the vehicle assisted driving application can operate in a mode suitable for vehicle operation when the operator's hand is not in contact with the steering wheel. Such operations can include actuating a propulsion component of the vehicle 102, providing a notification to the operator, actuating vehicle brakes, etc.

[0063] Figure 3 is a process flow diagram showing an exemplary process 300 for determining whether an operator's hand is in contact with a vehicle steering wheel. Process 300 can be implemented in the computer 104 included in the vehicle 102. Process 300 includes a number of blocks that can be executed in the order shown. Alternatively or additionally, process 300 can include fewer blocks, or include blocks executed in a different order.

[0064] For example, process 300 may begin at block 302, such as in response to vehicle 102 being placed in an on state or in a “driving” state to operate on a road. Block 302 may include computer 104 activating an actuator (such as actuator 210 or EPAS motor 240) to actuate or rotate steering wheel 124 in a manner that enables an operator to resist rotation of the steering wheel 124 without adversely affecting lateral control or direction of the vehicle.

[0065] In an example, computer 104 may actuate movement of steering wheel 124 in a first rotational direction and then rotate the steering wheel 124 in a second rotational direction opposite the first rotational direction. In another example, computer 104 may determine that vehicle 102 is turning and, in response to determining that vehicle 102 is turning, rotate the steering wheel 124 in a direction opposite the direction in which vehicle 102 is turning. In another example, in the context of a steer-by-wire system, computer 104 may actuate movement of steering wheel 124, including rotating the steering wheel 124 from a centered position to a specified angular offset, such as 45 degrees.

[0066] Process 300 may continue at block 304, which may include computer 104 measuring the torque applied to steering wheel 124 in a direction opposite the actuated movement using torque sensor 122.

[0067] At block 306, computer 104 may compare the measured torque from block 304 to a predetermined threshold.

[0068] In response to determining at decision block 308 that operator 205 has applied at least a threshold level of torque to steering wheel 124, process 300 may return to block 302, where the system continues to monitor whether the operator's hand is in contact with steering wheel 124. Otherwise, in response to determining that the measured torque is less than the predetermined threshold and operator 205 does not have at least one hand in contact with steering wheel 124, process 300 may proceed to block 310.

[0069] At block 310, computer 104 may actuate one or more components of vehicle 102, such as generating a message to operator 205, such as an audio message or a message via a display screen, etc. In an example, the audio and / or visual message may indicate to the operator to grip the steering wheel. Alternatively or additionally, computer 104 may initiate a haptic output to the steering wheel 124 or initiate generation of an audible signal. Alternatively or additionally, if the operator is unable to re-engage, for example, after a specified length of time, computer 104 may actuate one or more components of vehicle 102 according to one or more predefined maneuvers, such as steering vehicle 102, reducing propulsion of the vehicle, and / or braking the vehicle.

[0070] After block 310, process 300 ends.

[0071] The operations, systems, and methods described herein should always be implemented and / or performed in accordance with the applicable owner / user manuals and / or safety guidelines.

[0072] The present disclosure has been described in an illustrative manner, and it is to be understood that the terms used are intended in the nature of descriptive words rather than of a limiting nature. Given the above teachings, many modifications and variations of the present disclosure are possible, and the present disclosure may be practiced in other ways than specifically described.

[0073] In the drawings, the same reference numerals indicate the same elements. Additionally, some or all of these elements may be varied. With respect to the media, processes, systems, methods, etc. described herein, it is to be understood that while the steps of such processes, etc. have been described as occurring in a particular order, such processes may be practiced with the steps being performed in an order other than that described herein, unless otherwise stated or apparent from the context. Also, it is to be understood that certain steps may be performed simultaneously, other steps may be added, or some steps described herein may be omitted. In other words, the description of the processes herein is provided for the purpose of illustrating certain embodiments and should in no way be construed as limiting the claimed invention.

[0074] The adjectives first and second are used throughout this document as identifiers and are not intended to denote importance, order, or quantity unless otherwise expressly stated.

[0075] The term exemplary is used herein in the sense of representing an example; for instance, a reference to an exemplary widget should be construed as referring only to an example of a widget.

[0076] The use of "responsive to", "based on", and "in determining that" herein indicates a causal relationship rather than merely a temporal relationship.

[0077] Computer-executable instructions can be compiled or interpreted by computer programs created using a variety of programming languages and / or technologies, including but not limited to Java, C, C++, Visual Basic, Java Script, Perl, Python, HTML, etc., either alone or in combination. Generally, a processor (e.g., a microprocessor) receives instructions from, for example, a memory, a computer-readable medium, etc., and executes these instructions, thereby performing one or more processes, including one or more of the processes described herein. Such instructions and other data can be stored and transmitted using a variety of computer-readable media. Files in a networked device are typically a collection of data stored on a computer-readable medium (such as a storage medium, random access memory, etc.). A computer-readable medium includes any medium that participates in providing data (e.g., instructions) that can be read by a computer. Such media can take many forms, including but not limited to non-volatile media and volatile media. Instructions can be transmitted via one or more transmission media, including fiber optics, wires, wireless communication, including internal components that make up a system bus coupled to a processor of a computer. Common forms of computer-readable media include, for example, RAM, PROM, EPROM, flash EEPROM, any other memory chip or cartridge, or any other medium from which a computer can read.

[0078] According to the present invention, there is provided a system having: a computer including a processor and a memory, the memory including instructions executable by the processor to: measure a torque applied to a steering element of a vehicle in a direction opposite to an actuated movement of the steering element when actuating the movement of the steering element; and actuate a component of the vehicle in response to determining that the torque is less than a predetermined threshold.

[0079] According to an embodiment, the instructions for actuating the movement of the steering element include instructions for rotating the steering element in a first rotational direction and then rotating the steering element in a second rotational direction opposite to the first rotational direction.

[0080] According to an embodiment, the instructions include additional instructions for: determining that the vehicle is turning, and in response to determining that the vehicle is turning, rotating the steering element in a direction opposite to the direction in which the vehicle is turning.

[0081] According to an embodiment, the predetermined threshold is determined empirically.

[0082] According to an embodiment, the instructions for actuating the movement of the steering element include instructions for rotating the steering element from a center position to a specified angular offset.

[0083] According to an embodiment, the instructions for actuating the components of the vehicle include instructions for providing an output indicating to return the steering element to the center position.

[0084] According to an embodiment, the features of the present invention are also used for a first actuator for actuating the movement of the steering element and a second actuator for controlling the direction of the vehicle.

[0085] According to an embodiment, the instructions for actuating the movement of the steering element include instructions for randomly activating the first actuator to rotate the steering element independently of the second actuator.

[0086] According to an embodiment, the instructions for actuating the components of the vehicle include instructions for actuating the vehicle brakes.

[0087] According to an embodiment, the instructions for actuating the components of the vehicle include instructions for providing an audio and / or video output to indicate to the operator of the vehicle to grasp the steering element.

[0088] According to the present invention, a method includes: measuring a torque applied to the steering element in a direction opposite to the actuated movement when actuating the movement of the steering element of the vehicle; and actuating the components of the vehicle in response to determining that the torque is less than a predetermined threshold.

[0089] In one aspect of the present invention, actuating the movement of the steering element includes rotating the steering element in a first rotational direction and then rotating the steering element in a second rotational direction opposite to the first rotational direction.

[0090] In one aspect of the present invention, the method includes determining that the vehicle is turning, and rotating the steering element in a direction opposite to the direction in which the vehicle is turning in response to determining that the vehicle is turning.

[0091] In one aspect of the present invention, actuating the movement of the steering element includes rotating the steering element from a center position to a specified angular offset.

[0092] In one aspect of the present invention, the specified angular offset is approximately 45 degrees.

[0093] In one aspect of the present invention, actuating the components of the vehicle includes providing an audio and / or video output indicating to return the steering element to the center position.

[0094] In one aspect of the present invention, the method includes activating a first actuator to actuate the movement of the steering element and activating a second actuator to control the direction of the vehicle.

[0095] In one aspect of the present invention, actuating the movement of the steering element includes randomly rotating the steering element.

[0096] In one aspect of the present invention, the predetermined threshold is determined empirically.

[0097] In one aspect of the present invention, actuating the component of the vehicle includes providing an audio and / or video output to indicate to the operator of the vehicle to grasp the steering element.

Claims

1. A system comprising: A computer comprising a processor and a memory, the memory comprising instructions executable by the processor to: upon actuating movement of a steering element of the vehicle, measuring a torque applied to the steering element in a direction opposite to the actuated movement; and A component of the vehicle is actuated in response to determining that the torque is less than a predetermined threshold. 2 . The system of claim 1 , wherein the instructions for actuating movement of the steering element include instructions for rotating the steering element in a first rotational direction and subsequently rotating the steering element in a second rotational direction opposite the first rotational direction.

3. The system of claim 1, wherein the instructions include further instructions for determining that the vehicle is turning, and in response to determining that the vehicle is turning, rotating the steering element in a direction opposite to the direction the vehicle is turning. The system according to claim 1 , wherein the predetermined threshold is determined empirically. 5 . The system of claim 1 , wherein the instructions for actuating movement of the steering element include instructions for rotating the steering element from a center position to a specified angular offset.

6. The system of claim 5, wherein the instructions for actuating a component of the vehicle include instructions for providing an output instructing the steering element to return to the center position.

7. The system of claim 1 further comprising a first actuator for actuating movement of the steering element and a second actuator for controlling the direction of the vehicle.

8. The system of claim 7, wherein the instructions for actuating movement of the steering element include instructions for randomly activating the first actuator to rotate the steering element independently of the second actuator.

9. The system of claim 1, wherein the instructions to actuate the component of the vehicle include instructions to actuate vehicle brakes.

10. The system of any one of claims 1 to 9, wherein the instructions for actuating the component of the vehicle include instructions for providing an audio and / or visual output instructing an operator of the vehicle to grasp the steering element.

11. A method comprising: measuring, upon actuating movement of a steering element of a vehicle, a torque applied to the steering element in a direction opposite to the actuated movement; and A component of the vehicle is actuated in response to determining that the torque is less than a predetermined threshold. 12 . The method of claim 11 , wherein actuating movement of the steering element comprises rotating the steering element in a first rotational direction and subsequently rotating the steering element in a second rotational direction opposite the first rotational direction.

13. The method of claim 11, further comprising determining that the vehicle is turning, and rotating the steering element in a direction opposite to the direction the vehicle is turning in response to determining that the vehicle is turning.

14. The method of claim 11, wherein actuating movement of the steering element comprises rotating the steering element from a center position to a specified angular offset.

15. The method of any one of claims 11 to 14, wherein actuating a component of the vehicle comprises providing an audio and / or visual output instructing an operator of the vehicle to grasp the steering element.

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