Steering wheel hand-leaving detection method, system and device, medium and vehicle

Abstract

The invention discloses a steering wheel hand-leaving detection method, system and device, a medium and a vehicle, a handle ring of a steering wheel is provided with a first-area HOD sensing pad and a second-area HOD sensing pad, and the method comprises the steps that the first capacitance variable quantity of the first-area HOD sensing pad and the second capacitance variable quantity of the second-area HOD sensing pad are obtained; according to the first capacitance variable quantity and a first preset threshold value, whether the first-area HOD induction pad grabs the steering wheel or not is judged, and according to the second capacitance variable quantity and a second preset threshold value, whether the second-area HOD induction pad grabs the steering wheel or not is judged; the first preset threshold value and the second preset threshold value are obtained through calibration in a plurality of groups of temperature ranges according to a plurality of driving gestures and mistaken touch gestures; if the first-area HOD sensing pad grabs the steering wheel and the second-area HOD sensing pad grabs the steering wheel, it is judged that the driver takes over the steering wheel; otherwise, the steering wheel leaves the hand. The embodiment of the invention can improve the accuracy of judging whether the steering wheel takes over or leaves the hand, and can be widely applied to the technical field of vehicle control.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, system, device, medium and vehicle for detecting hands-off steering wheel. Background Art

[0002] With the development of intelligent driving technology, vehicles are becoming increasingly automated. Determining whether the driver has taken control of the steering wheel has become a key factor affecting vehicle safety. However, due to the varying body shapes and driving habits of drivers, their steering gestures vary greatly, making accurate determination of driver control difficult for current hands-off detection technologies. Summary of the Invention

[0003] In view of this, an object of the embodiments of the present invention is to provide a method, system, device, medium and vehicle for detecting hands-off steering, which can improve the accuracy of determining whether the steering wheel is taken over or released.

[0004] In one aspect, an embodiment of the present invention provides a method for detecting hands-off a steering wheel, wherein a first-zone HOD sensing pad and a second-zone HOD sensing pad are provided on a steering wheel handle. The method includes: Obtaining a first capacitance change of the HOD sensing pad in the first zone and a second capacitance change of the HOD sensing pad in the second zone; Determining whether the HOD sensing pad in zone one is gripping the steering wheel based on the first capacitance change and a first preset threshold, and determining whether the HOD sensing pad in zone two is gripping the steering wheel based on the second capacitance change and a second preset threshold; the first preset threshold and the second preset threshold are calibrated based on several driving gestures and accidental touch gestures within several temperature ranges; If the first zone HOD sensing pad grasps the steering wheel and the second zone HOD sensing pad grasps the steering wheel, it is determined that the driver has taken over the steering wheel; otherwise, the steering wheel is released.

[0005] Optionally, the first preset threshold and the second preset threshold are determined by the following method: Testing a preset takeover gesture within a reference temperature range to determine a first basic threshold and a second basic threshold; Calibration is performed according to preset gestures within multiple temperature ranges. If the accuracy of the preset gesture recognition is not within the preset range, the first basic threshold and the second basic threshold are adjusted until the accuracy of the preset gesture recognition is within the preset range; the preset gestures include several driving gestures and accidental touch gestures; The first preset threshold and the second preset threshold are determined according to the revised first basic threshold and the second basic threshold.

[0006] Optionally, testing a preset takeover gesture within a reference temperature range to determine a first basic threshold and a second basic threshold includes: Within the reference temperature range, testers of different genders were selected to perform the test according to the preset takeover gestures; respectively obtaining a first capacitance change set of the HOD sensing pad in the first zone and a second capacitance change set of the HOD sensing pad in the second zone; A normal distribution fitting is performed on the first capacitance change set to determine the first basic threshold, and a normal distribution fitting is performed on the second capacitance change set to determine the second basic threshold.

[0007] Optionally, the multiple groups of temperature ranges include the reference temperature range and several groups of extended temperature ranges. Calibration is performed according to a preset gesture within the multiple groups of temperature ranges. If the accuracy of recognition of the preset gesture is not within a preset range, the first basic threshold and the second basic threshold are corrected until the accuracy of recognition of the preset gesture is within a preset range, including: Calibrate according to a preset gesture within a reference temperature range, and if the accuracy of the preset gesture recognition is not within a preset range, modify the first basic threshold and the second basic threshold according to the recognition result; Calibration is performed according to the preset gestures within each group of extended temperature ranges. If the accuracy of the preset gesture recognition is not within the preset range, the corrected first basic threshold and second basic threshold within each group of extended temperature ranges are updated according to the recognition results until the accuracy of the preset gesture recognition for each group is within the preset range.

[0008] Optionally, determining the first preset threshold and the second preset threshold according to the revised first basic threshold and the second basic threshold includes: Performing a union operation on the first basic threshold values corrected in each group of the extended temperature range to determine a first preset threshold value; A union operation is performed on the second basic threshold values corrected in each group of the extended temperature range to determine a second preset threshold value.

[0009] Optionally, the HOD sensing pads in the first zone and the HOD sensing pads in the second zone are asymmetrically distributed at preset positions, and the method further includes: In the asymmetric distribution area, a specific gesture is used for testing and calibration to determine the first preset threshold and the second preset threshold; the specific gesture includes all fingers.

[0010] On the other hand, an embodiment of the present invention provides a steering wheel hands-off detection system, wherein the steering wheel handle is provided with a first zone HOD sensing pad and a second zone HOD sensing pad, and the system comprises: The first module is configured to obtain a first capacitance change of the HOD sensing pad in the first zone and a second capacitance change of the HOD sensing pad in the second zone; a second module configured to determine whether the HOD sensing pad in zone one is gripping the steering wheel based on the first capacitance change and a first preset threshold, and to determine whether the HOD sensing pad in zone two is gripping the steering wheel based on the second capacitance change and a second preset threshold; the first preset threshold and the second preset threshold being calibrated based on several driving gestures and accidental touch gestures within several temperature ranges; The third module is configured to determine that the driver has taken over the steering wheel if the HOD sensing pad in zone one and the HOD sensing pad in zone two grip the steering wheel; otherwise, the steering wheel is released.

[0011] In another aspect, an embodiment of the present invention provides a steering wheel hands-off detection device, comprising: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above method.

[0012] On the other hand, an embodiment of the present invention provides a computer-readable storage medium storing a program executable by a processor. When the program is executed by the processor, it is used to perform the above method.

[0013] On the other hand, an embodiment of the present invention provides a vehicle, comprising a steering wheel and the above-mentioned steering wheel hands-off detection system or the above-mentioned steering wheel hands-off detection device.

[0014] The implementation of the embodiment of the present invention includes the following beneficial effects: the steering wheel handle is provided with a first zone HOD sensing pad and a second zone HOD sensing pad. First, within multiple temperature ranges, the first preset threshold corresponding to the first zone HOD sensing pad and the second preset threshold corresponding to the second zone HOD sensing pad are calibrated according to several driving gestures and accidental touch postures when the driver takes over the steering wheel. Then, the first capacitance change of the first zone HOD sensing pad and the second capacitance change of the second zone HOD sensing pad are obtained, and it is judged whether the first zone grasps the steering wheel according to the first capacitance change and the first preset threshold, and the second capacitance change is determined according to the second capacitance change. The system uses a second preset threshold to determine whether zone two is gripping the steering wheel. If both zone one and zone two are gripping the steering wheel, the driver is determined to have taken over the steering wheel. Otherwise, the steering wheel is out of the hands. Within multiple temperature ranges, the preset thresholds are calibrated through a variety of driving gestures and accidental touch postures to meet the accuracy of hands-off detection. The system determines that the driver has taken over the steering wheel based on the different capacitance changes of the HOD sensing pad when different gestures touch the steering wheel. This can meet the needs of people of different body types and drivers in a variety of environments to accurately identify whether the driver is gripping the steering wheel, thereby improving the accuracy of judging whether the steering wheel is taken over or out of the hands. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a structural diagram of a steering wheel handle provided by an embodiment of the present invention, in which a first-zone HOD sensing pad and a second-zone HOD sensing pad are provided; Figure 2 This is a flowchart of a method for detecting hands-off steering wheel provided by an embodiment of the present invention; Figure 3 is a schematic diagram of a series of driving gestures provided by an embodiment of the present invention; Figure 4 is a schematic diagram of a series of accidental touch gestures provided by an embodiment of the present invention; Figure 5 This is a flowchart of steps for determining a first preset threshold and a second preset threshold provided by an embodiment of the present invention; Figure 6 This is a schematic flow chart of steps for determining a first basic threshold and a second basic threshold provided by an embodiment of the present invention; Figure 7 This is a flowchart of steps for correcting a first basic threshold and a second basic threshold provided by an embodiment of the present invention; Figure 8 is another flowchart of steps for correcting the first basic threshold and the second basic threshold provided by an embodiment of the present invention; Figure 9 is another flowchart of steps for determining a first preset threshold and a second preset threshold provided by an embodiment of the present invention; Figure 102 is a schematic diagram of a structure in which asymmetrically distributed HOD sensing pads in a first zone and a second zone are arranged at preset positions, provided by an embodiment of the present invention; Figure 11 This is a structural block diagram of a steering wheel hands-off detection system provided by an embodiment of the present invention; Figure 12 This is a structural block diagram of a steering wheel hands-off detection device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0016] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. The step numbers in the following embodiments are provided for ease of description only and do not limit the order of the steps. The order of execution of the steps in the embodiments can be adaptively adjusted based on the understanding of those skilled in the art.

[0017] It should be noted that, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order than the module division in the device or the order in the flow chart. The terms "first", "second", etc. in the specification and claims and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0018] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0019] See Figure 1 The steering wheel grip is equipped with a first-zone HOD sensor pad (Area A) and a second-zone HOD sensor pad (B). When the driver touches the steering wheel with different gestures, the capacitance of the HOD sensor pads in both zones will change accordingly. The capacitance change threshold required to determine a grip is set in each sensing zone through calibration.

[0020] See Figure 2 An embodiment of the present invention provides a method for detecting hands-off steering wheel, wherein a first-zone HOD sensing pad and a second-zone HOD sensing pad are provided on a steering wheel handle. The method includes: S100 , obtaining a first capacitance change of a HOD sensing pad in a first zone and a second capacitance change of a HOD sensing pad in a second zone.

[0021] The capacitance change is measured by the sensor. When the driver touches the steering wheel, the driver's driving gesture has different contact areas with the HOD sensing pad in zone one and the HOD sensing pad in zone two, resulting in different capacitance changes.

[0022] S200. Determine whether the HOD sensing pad in zone one is gripping the steering wheel based on a first capacitance change and a first preset threshold value, and determine whether the HOD sensing pad in zone two is gripping the steering wheel based on a second capacitance change and a second preset threshold value; the first preset threshold value and the second preset threshold value are calibrated within several temperature ranges based on several driving gestures and accidental touch postures.

[0023] Driving gesture refers to the gesture of the driver gripping the steering wheel when driving the vehicle, and accidental touch gesture refers to the unexpected gesture of the driver gripping the steering wheel when driving the vehicle. Specifically, the driving gesture can be determined based on the driver's habitual gripping gesture when taking over the vehicle, see Figure 3 , Figure 3 Indicates several driving gestures; placing one or both hands on the steering wheel and knees accidentally touching the steering wheel are identified as accidental touch gestures, see Figure 4 , Figure 4 Indicates several types of accidental touch gestures. The first preset threshold represents the boundary value of whether the HOD sensing pad in area 1 is grasped, and the second preset threshold represents the boundary value of whether the HOD sensing pad in area 2 is grasped.

[0024] Specifically, a first preset threshold and a second preset threshold are calibrated within several groups of temperature ranges based on several driving gestures and accidental touch postures; if the first capacitance change is greater than or equal to the first preset threshold, it is determined that the HOD sensing pad in one zone grasps the steering wheel; if the first capacitance change is less than the first preset threshold, it is determined that the HOD sensing pad in one zone does not grasp the steering wheel; if the second capacitance change is greater than or equal to the second preset threshold, it is determined that the HOD sensing pad in two zones grasps the steering wheel; if the second capacitance change is less than the second preset threshold, it is determined that the HOD sensing pad in two zones does not grasp the steering wheel.

[0025] S300: If the HOD sensing pad in zone 1 grasps the steering wheel and the HOD sensing pad in zone 2 grasps the steering wheel, it is determined that the driver has taken over the steering wheel; otherwise, the steering wheel is released.

[0026] If zone one grasps the steering wheel and zone two grasps the steering wheel, it is determined that the driver has taken over the steering wheel; if zone one does not grasp the steering wheel or zone two does not grasp the steering wheel, it is determined that the steering wheel is released and the driver has not taken over the steering wheel.

[0027] Optionally, see Figure 5 , the first preset threshold and the second preset threshold are determined by the following method: S010: Testing a preset takeover gesture within a reference temperature range to determine a first basic threshold and a second basic threshold.

[0028] It should be noted that the reference temperature range is determined based on actual application and is not specifically limited in this embodiment. For example, it can range from 20°C to 40°C. The takeover gesture represents the gesture used by the driver to take over the vehicle and is determined based on actual application and is not specifically limited in this embodiment. Within the reference temperature range, the preset takeover gesture is tested to determine the first and second base thresholds within the intermediate range.

[0029] S020. Calibrate according to preset gestures within multiple temperature ranges. If the accuracy of preset gesture recognition is not within the preset range, adjust the first basic threshold and the second basic threshold until the accuracy of preset gesture recognition is within the preset range. The preset gestures include several driving gestures and accidental touch gestures.

[0030] It should be noted that the multiple temperature ranges include a baseline temperature range and several extended temperature ranges. The extended temperature range refers to a temperature range outside the baseline temperature range, and the extended temperature range is determined based on the natural environmental limits that the vehicle may face. The preset range corresponding to the accuracy is determined based on actual application and is not specifically limited in this embodiment. The preset gestures include several driving gestures and accidental touch gestures. The first basic threshold and the second basic threshold are modified based on the accuracy of the preset gesture recognition, which is more in line with actual application and has higher accuracy.

[0031] S030: Determine a first preset threshold and a second preset threshold according to the corrected first basic threshold and the second basic threshold.

[0032] Specifically, the first preset threshold is determined according to multiple sets of revised first basic thresholds, and the second preset threshold is determined according to multiple sets of revised second basic thresholds.

[0033] Optionally, see Figure 6 , within a reference temperature range, testing a preset takeover gesture to determine a first basic threshold and a second basic threshold, including: S011. Within the reference temperature range, select testers of different genders to perform the test according to the preset hand gestures; S012, respectively obtaining a first capacitance change set of the HOD sensing pad in the first zone and a second capacitance change set of the HOD sensing pad in the second zone; S013. Perform normal distribution fitting on the first capacitance change set to determine a first basic threshold, and perform normal distribution fitting on the second capacitance change set to determine a second basic threshold.

[0034] In one specific embodiment, a three-finger touch was set on both areas of the HOD sensor pad to determine a takeover. A three-finger grip test was performed on male and female students from different percentiles at a reference temperature of 20-40°C. Capacitance change data for the two sensor pads was obtained at temperatures between 20°C and 40°C. The data was extracted and fitted with a normal distribution, using the 95th percentile as the baseline threshold.

[0035] Optionally, see Figure 7 The multiple temperature ranges include a base temperature range and several extended temperature ranges. Within the multiple temperature ranges, calibration is performed according to a preset gesture. If the accuracy of the preset gesture recognition is not within the preset range, the first basic threshold and the second basic threshold are corrected until the accuracy of the preset gesture recognition is within the preset range, including: S021. Calibrate according to a preset gesture within a reference temperature range. If the accuracy of the preset gesture recognition is not within a preset range, modify the first basic threshold and the second basic threshold based on the recognition result. S022. Calibrate according to the preset gestures within each set of extended temperature ranges. If the accuracy of the preset gesture recognition is not within the preset range, update the corrected first basic threshold and second basic threshold within each set of extended temperature ranges according to the recognition results until the accuracy of the preset gesture recognition is within the preset range.

[0036] See Figure 8 In a specific embodiment, referring to the adult hand size classification standard and the distribution of adult male and female palm sizes, no less than 100 test users are selected in proportion; Figure 3 、 Figure 4 The gesture diagram is calibrated at a room temperature of 20-40°C. If the recognition accuracy of all gestures is ≥95% based on the test results, the calibration is successful and calibration at other temperatures is continued. If the recognition accuracy is less than 95%, the threshold is re-optimized based on the calibration results. The calibration test is repeated for each group of extended temperature environments (-40--20°C, -20-0°C, 0-20°C, 40-60°C, and 60-80°C). If the recognition accuracy of all gestures is ≥95%, the single temperature calibration is successful. If the recognition accuracy is less than 95%, the temperature compensation threshold is re-optimized based on the calibration results. If the gesture recognition accuracy is ≥95% at all temperatures, calibration is completed.

[0037] Optionally, see Figure 9 , determining the first preset threshold and the second preset threshold according to the revised first basic threshold and the second basic threshold, including: S031, performing a union operation on the first basic threshold values corrected in each group of the extended temperature range to determine a first preset threshold value; S032: Perform a union operation on the corrected second basic thresholds within each group of the extended temperature range to determine a second preset threshold.

[0038] Specifically, the corrected first basic thresholds within each group of extended temperature ranges are combined, and the first preset threshold is determined based on the smaller value of the corrected first basic thresholds corresponding to all extended temperature ranges. The corrected second basic thresholds within each group of extended temperature ranges are combined, and the second preset threshold is determined based on the smaller value of the corrected second basic thresholds corresponding to all extended temperature ranges, so that grasping or releasing operations of various gestures can be recognized at various temperatures.

[0039] Optionally, the HOD sensing pads in the first zone and the HOD sensing pads in the second zone are asymmetrically distributed at preset positions, and the method further includes: S400: In an asymmetrically distributed area, a specific gesture is used for testing and calibration to determine a first preset threshold and a second preset threshold; the specific gesture includes all fingers.

[0040] It should be noted that the preset position and specific gesture are determined by actual application and are not specifically limited in this embodiment.

[0041] See Figure 10 In a specific embodiment, in order to avoid accidental knee contact, the layout structure of the hands-off detection steering wheel HOD pad is optimized and adjusted. Figure 10 In the middle image (a), the HOD sensor pad at the 6 o'clock position on the steering wheel is unevenly distributed across two zones. The back of the steering wheel (Zone B), where the knee is prone to accidental contact, has been enlarged to ensure that any accidental knee contact only contacts a single HOD sensor zone, effectively preventing accidental contact.

[0042] See Figure 10 In the middle (b) image, the HOD pad at the 6 o'clock position on the steering wheel is designed to prevent accidental knee contact, which could lead to the HOD misjudging the steering wheel. When the driver grasps the steering wheel using the gesture shown, the contact area in Zone A decreases, posing a risk of misjudgment. Considering that drivers are less likely to misjudge in Zone A, and based on actual testing and calibration using the gesture diagram, the contact area threshold for Zone 1 was lowered to ensure correct recognition of all grasping gestures at the 6 o'clock position.

[0043] The implementation of the embodiment of the present invention includes the following beneficial effects: the steering wheel handle is provided with a first zone HOD sensing pad and a second zone HOD sensing pad. First, within multiple temperature ranges, the first preset threshold corresponding to the first zone HOD sensing pad and the second preset threshold corresponding to the second zone HOD sensing pad are calibrated according to several driving gestures and accidental touch postures when the driver takes over the steering wheel. Then, the first capacitance change of the first zone HOD sensing pad and the second capacitance change of the second zone HOD sensing pad are obtained, and it is judged whether the first zone grasps the steering wheel according to the first capacitance change and the first preset threshold, and the second capacitance change is determined according to the second capacitance change. The system uses a second preset threshold to determine whether zone two is gripping the steering wheel. If both zone one and zone two are gripping the steering wheel, the driver is determined to have taken over the steering wheel. Otherwise, the steering wheel is out of the hands. Within multiple temperature ranges, the preset thresholds are calibrated through a variety of driving gestures and accidental touch postures to meet the accuracy of hands-off detection. The system determines that the driver has taken over the steering wheel based on the different capacitance changes of the HOD sensing pad when different gestures touch the steering wheel. This can meet the needs of people of different body types and drivers in a variety of environments to accurately identify whether the driver is gripping the steering wheel, thereby improving the accuracy of judging whether the steering wheel is taken over or out of the hands.

[0044] See Figure 11 An embodiment of the present invention provides a steering wheel hands-off detection system, wherein a first-zone HOD sensing pad and a second-zone HOD sensing pad are provided on the steering wheel handle. The system includes: The first module is used to obtain a first capacitance change of the HOD sensing pad in the first zone and a second capacitance change of the HOD sensing pad in the second zone; The second module is configured to determine whether the HOD sensing pad in zone one is gripping the steering wheel based on the first capacitance change and a first preset threshold, and to determine whether the HOD sensing pad in zone two is gripping the steering wheel based on the second capacitance change and a second preset threshold. The first and second preset thresholds are calibrated based on several driving gestures and accidental touch gestures within several temperature ranges. The third module is used to determine that the driver has taken over the steering wheel if the HOD sensing pad in zone one grasps the steering wheel and the HOD sensing pad in zone two grasps the steering wheel; otherwise, the steering wheel is released.

[0045] It can be seen that the contents of the above method embodiments are all applicable to the present system embodiments. The functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0046] See Figure 12 , an embodiment of the present invention provides a steering wheel hands-off detection device, comprising: at least one processor; at least one memory for storing at least one program; When at least one program is executed by at least one processor, the at least one processor implements the above method.

[0047] Among them, the memory is a non-transient computer-readable storage medium that can be used to store non-transient software programs and non-transient computer executable programs. The memory may include a high-speed random access memory and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory optionally includes a remote memory remotely arranged relative to the processor, and these remote memories can be connected to the processor via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0048] It can be seen that the contents of the above method embodiments are all applicable to the present device embodiments. The functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0049] In addition, embodiments of the present application further disclose a computer program product or computer program, which is stored in a computer-readable storage medium. A processor of a computer device can read the computer program from the computer-readable storage medium and execute the computer program, causing the computer device to perform the above-described method.

[0050] An embodiment of the present invention further provides a computer-readable storage medium storing a program executable by a processor. When executed by the processor, the program is used to implement the above-described method. Similarly, the contents of the above-described method embodiment are applicable to the present storage medium embodiment. The functions implemented by the present storage medium embodiment are the same as those of the above-described method embodiment, and the beneficial effects achieved are also the same as those achieved by the above-described method embodiment.

[0051] It will be appreciated that all or some of the steps and systems disclosed above may be implemented as software, firmware, hardware, or any suitable combination thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is well known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVDs) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. Furthermore, as is well known to those skilled in the art, communication media typically embodies computer-readable instructions, data structures, program modules, or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media.

[0052] An embodiment of the present invention provides a vehicle, comprising a steering wheel and the aforementioned steering wheel hands-off detection system or the aforementioned steering wheel hands-off detection device. Specifically, the vehicle can be a private vehicle, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle can be a gasoline vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0053] It should be understood that in this application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0054] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0055] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0056] The above is a specific description of the preferred implementation of the present invention, but the invention is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without violating the spirit of the present invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A method for detecting hands-off steering wheel, characterized in that: The steering wheel handle is provided with a first zone HOD sensing pad and a second zone HOD sensing pad, and the method comprises: Obtaining a first capacitance change of the HOD sensing pad in the first zone and a second capacitance change of the HOD sensing pad in the second zone; Determining whether the HOD sensing pad in zone one is gripping the steering wheel based on the first capacitance change and a first preset threshold, and determining whether the HOD sensing pad in zone two is gripping the steering wheel based on the second capacitance change and a second preset threshold; the first preset threshold and the second preset threshold are calibrated based on several driving gestures and accidental touch gestures within several temperature ranges; If the first zone HOD sensing pad grasps the steering wheel and the second zone HOD sensing pad grasps the steering wheel, it is determined that the driver has taken over the steering wheel; otherwise, the steering wheel is released.

2. The method according to claim 1, characterized in that The first preset threshold and the second preset threshold are determined by the following method: Testing a preset takeover gesture within a reference temperature range to determine a first basic threshold and a second basic threshold; Calibration is performed according to preset gestures within multiple temperature ranges. If the accuracy of the preset gesture recognition is not within the preset range, the first basic threshold and the second basic threshold are adjusted until the accuracy of the preset gesture recognition is within the preset range; the preset gestures include several driving gestures and accidental touch gestures; The first preset threshold and the second preset threshold are determined according to the revised first basic threshold and the second basic threshold.

3. The method according to claim 2, characterized in that The step of testing a preset takeover gesture within a reference temperature range to determine a first basic threshold and a second basic threshold includes: Within the reference temperature range, testers of different genders were selected to perform the test according to the preset takeover gestures; respectively obtaining a first capacitance change set of the HOD sensing pad in the first zone and a second capacitance change set of the HOD sensing pad in the second zone; A normal distribution fitting is performed on the first capacitance change set to determine the first basic threshold value, and a normal distribution fitting is performed on the second capacitance change set to determine the second basic threshold value.

4. The method according to claim 2, characterized in that The multiple groups of temperature ranges include the reference temperature range and several groups of extended temperature ranges. Calibration is performed according to a preset gesture within the multiple groups of temperature ranges. If the accuracy of the preset gesture recognition is not within the preset range, the first basic threshold and the second basic threshold are corrected until the accuracy of the preset gesture recognition is within the preset range, including: Calibrate according to a preset gesture within a reference temperature range, and if the accuracy of the preset gesture recognition is not within a preset range, modify the first basic threshold and the second basic threshold according to the recognition result; Calibration is performed according to the preset gestures within each group of extended temperature ranges. If the accuracy of the preset gesture recognition is not within the preset range, the corrected first basic threshold and second basic threshold within each group of extended temperature ranges are updated according to the recognition results until the accuracy of the preset gesture recognition for each group is within the preset range.

5. The method according to claim 4, characterized in that The determining the first preset threshold and the second preset threshold according to the modified first basic threshold and the second basic threshold includes: Performing a union operation on the first basic threshold values corrected in each group of the extended temperature range to determine a first preset threshold value; A union operation is performed on the second basic threshold values corrected in each group of the extended temperature range to determine a second preset threshold value.

6. The method according to claim 1, characterized in that The HOD sensing pads in the first zone and the HOD sensing pads in the second zone are asymmetrically distributed at preset positions, and the method further includes: In the asymmetric distribution area, a specific gesture is used for testing and calibration to determine the first preset threshold and the second preset threshold; the specific gesture includes all fingers.

7. A steering wheel hands-off detection system, characterized in that: The steering wheel handle is provided with a first zone HOD sensing pad and a second zone HOD sensing pad, and the system includes: The first module is configured to obtain a first capacitance change of the HOD sensing pad in the first zone and a second capacitance change of the HOD sensing pad in the second zone; a second module configured to determine whether the HOD sensing pad in zone one is gripping the steering wheel based on the first capacitance change and a first preset threshold, and to determine whether the HOD sensing pad in zone two is gripping the steering wheel based on the second capacitance change and a second preset threshold; the first preset threshold and the second preset threshold being calibrated based on several driving gestures and accidental touch gestures within several temperature ranges; The third module is configured to determine that the driver has taken over the steering wheel if the HOD sensing pad in zone one and the HOD sensing pad in zone two grip the steering wheel; otherwise, the steering wheel is released.

8. A steering wheel hands-off detection device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the method according to any one of claims 1 to 6.

9. A computer-readable storage medium storing a program executable by a processor, characterized in that: The processor-executable program is configured to perform the method according to any one of claims 1 to 6 when executed by the processor.

10. A vehicle, characterized in that: The vehicle includes a steering wheel and the steering wheel hands-off detection system according to claim 7 or the steering wheel hands-off detection device according to claim 8.

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