Supervision and alarm method for multiple times of hand release of driver during lane keeping period

Abstract

The invention discloses a supervision and alarm method for multiple hands release of a driver during lane keeping, and belongs to the field of automobile auxiliary driving. According to the method, the LKA state (including correction and activation states) is monitored in real time, and the hand release state is detected through a steering wheel sensor; when the hand is released for the first time in the LKA correction state, entering a first-time hand release state and starting a timer; in the time window, the LKA is switched by'correction-activation-correction 'and released again, enters a second-time release state and triggers short-time alarm; in the second-time hand release state, the switching is met, the hand is released again, a third-time hand release state is entered, and long-time alarm is triggered; the hand is released again in the third-time hand release state, the timer is reset in the hand release refreshing state, and long-time alarming is continued; and if a termination condition is satisfied, quitting the state, emptying the timer and terminating the alarm. According to the invention, multiple hand release behaviors in a short time can be accurately monitored, and the L2-level auxiliary driving safety is improved.

Description

Technical Field

[0001] This invention belongs to the field of automotive driver assistance technology, specifically relating to a method for monitoring and alerting drivers to multiple hands-off behaviors during the operation of the lane keeping assist (LKA) function in a Level 2 driver assistance system. Background Technology

[0002] In Level 2 assisted driving, drivers need to pay constant attention to the road ahead and keep their hands on the steering wheel. Therefore, it is necessary to develop reasonable monitoring methods to promptly remind drivers and avoid the dangers caused by over-reliance on assisted driving. Currently, the methods used to monitor whether the driver is holding the steering wheel mainly rely on torque or capacitive sensors on the steering wheel to infer whether the driver is in a hands-free state. During lane keeping, most hands-free detection systems only detect a single instance and issue an alarm for a fixed duration. If the driver repeatedly takes their hands off the wheel within a short period of time, but the alarm and disengagement threshold for assisted driving are not reached, the repeated hands-free behavior is not effectively monitored, and assisted driving continues without any prompts. This can lead to a traffic accident because the driver does not have time to take back the steering wheel in the event of an accident.

[0003] Therefore, a monitoring and alarm method is needed to monitor and alert drivers who repeatedly take their hands off the steering wheel during lane keeping. If a driver repeatedly takes their hands off the steering wheel during lane keeping, a warning should be issued to the driver, reminding them to hold the steering wheel to avoid traffic accidents. Summary of the Invention

[0004] The technical objective of this application is to address the lack of effective supervision of repeated hands-off behavior during L2 level assisted driving, and to provide a monitoring and alarm method for drivers who repeatedly take their hands off the steering wheel while maintaining lane position, thereby issuing a warning to the driver and reminding them to keep their hands on the steering wheel.

[0005] To achieve the above technical objectives, this application adopts the following technical solution.

[0006] In a first aspect, this application discloses a monitoring and alarm method for drivers repeatedly taking their hands off the wheel while maintaining a lane, including: Real-time monitoring of the current LKA status of the lane keeping assist function, wherein the LKA status includes at least a corrected state and an active state; The system uses sensors on the steering wheel to detect whether the driver has taken their hands off the steering wheel. When the current LKA state is in the corrective state, if a release event is detected for the first time, the system enters the first release state and starts the first timer to accumulate the time. If the accumulated time of the first timer does not exceed the preset time window, the current LKA state undergoes a switch from the corrected state to the activated state and back to the corrected state, and a release event is detected again, entering the second release state. The first timer continues to accumulate time, while the second timer starts to accumulate time from zero, and a short-term alarm is triggered. If, during the second hands-off state, the accumulated time of the first timer does not exceed the preset time window, and the current LKA state again sequentially transitions from the correction state to the activation state and back to the correction state, and a hands-off event is detected, the system enters the third hands-off state. The first and second timers continue to accumulate time, while the third timer starts accumulating time from zero, and a long-term warning alarm is triggered. If, during the third hands-off state, the accumulated time of the first timer does not exceed the preset time window, and the current LKA state again transitions from the correction state to the activation state and back to the correction state, and a hands-off event is detected, the system enters the hands-off refresh state. The timers are reset to retain the timestamps of the three most recent hands-offs, and a long-term warning alarm is continuously triggered. If any of the preset termination conditions are met, exit the current hands-free state, clear all timers, and terminate the alarm.

[0007] Furthermore, the time window is a calibrable value, with a default value of 180s.

[0008] Furthermore, the minimum time unit of the first timer, the second timer, and the third timer is consistent with the execution cycle of the LKA system.

[0009] Furthermore, the termination conditions include: When the driver regains control of the steering wheel in the corrective state, and during the period of continuous holding, the LKA state undergoes a complete switch from the corrective state to the active state and back to the corrective state, and no hand-off event is detected during the switch process. LKA status exits to standby status; A Level 3 hand-drop alarm is triggered, and the Level 3 hand-drop alarm has a higher priority than the short-time alert alarm and the long-time alert alarm.

[0010] Furthermore, in the hands-free refresh state, the timer reset operation is as follows: the time of the second timer is assigned to the first timer, the time of the third timer is assigned to the second timer, and the third timer is cleared and restarted.

[0011] Furthermore, in the first release state, if the accumulated time of the first timer exceeds the preset time window and no new release state is detected, the first release state is exited and the first timer is cleared.

[0012] Furthermore, the LKA state also includes a closed state, an open state, and a standby state, with the hand-off detection performed only in the corrective state.

[0013] Furthermore, in the second hands-free state, if the accumulated time of the first timer exceeds the time window and no termination condition is triggered, the second hands-free state is exited and the first hands-free state is entered. At the same time, the current time of the second timer is assigned to the first timer, and then the second timer is cleared.

[0014] Compared with existing technologies, the monitoring and alarm method for multiple driver hands-off actions during lane keeping provided in this application has the following beneficial technical effects: By using LKA state switching determination and a timer to achieve time window timing, it achieves effective monitoring of this scenario for the first time, ensuring that high-frequency risky behaviors are not missed. Hand-off actions are only counted in the corrected state (high risk) and not in the active state (low risk), eliminating misjudgments of normal operations such as the driver adjusting their grip when the vehicle is stable; simultaneously, the time window (which can be calibrated) automatically filters out expired records, avoiding unnecessary alarms triggered by isolated hands-off actions. Attached Figure Description

[0015] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this application in any way. Furthermore, the shapes and scales of the components in the drawings are merely illustrative to aid in understanding this application and do not specifically limit the shapes and scales of the components. Those skilled in the art, guided by the teachings of this application, can select various possible shapes and scales to implement this application according to specific circumstances. In the drawings: Figure 1 A schematic flowchart of a monitoring alarm method for multiple driver hands-off actions during lane keeping, provided as an example; Figure 2 This is a timing diagram of the multi-stage alarm for multiple releases of the hands in the embodiment; Figure 3 This is a timing diagram showing that the alarm is not triggered during the time window in the embodiment. Figure 4 This is a timing diagram showing the multiple timestamp refreshes during the implementation example; Figure 5 This is a timing diagram showing the automatic adjustment of the number of times the user releases their hand within the sliding window in the embodiment. Detailed Implementation

[0016] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this application.

[0017] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more features.

[0018] A monitoring and alarm method for drivers repeatedly taking their hands off the wheel while maintaining a lane includes: Real-time monitoring of the current LKA status of the lane keeping assist function, which includes at least the corrective state and the active state; The system uses sensors on the steering wheel to detect whether the driver has taken their hands off the steering wheel. When the current LKA state is in the correction state, if a release event is detected for the first time, the first release state is entered and the first timer is started to accumulate the time. If the accumulated time of the first timer does not exceed the preset time window, the current LKA state goes through the transition from the corrected state to the activated state and back to the corrected state, and the release event is detected again, entering the second release state. The first timer continues to accumulate, and the second timer is started to accumulate from zero, while triggering a short-term alarm. If, during the second release state, the accumulated time of the first timer does not exceed the preset time window, the current LKA state again goes through the transition from "correction state → activation state → correction state" in sequence, and a release event is detected, entering the third release state. The first and second timers continue to accumulate time, while the third timer starts accumulating time from zero, and a long-term warning alarm is triggered. If, during the third release state, the accumulated time of the first timer does not exceed the preset time window, the current LKA state again goes through the transition from correction state to activation state and back to correction state, and a release event is detected, entering the release refresh state. The timers are reset to retain the timestamps of the three most recent releases, and a long-term warning alarm is continuously triggered. If any of the preset termination conditions are met, exit the current hands-free state, clear all timers, and terminate the alarm.

[0019] Lane keeping function is also known as lane keeping assist (LKA).

[0020] LKA status can include an active state and an intervention state. In the active state, the vehicle is driving in the center of the lane without control, while in the intervention state, the vehicle is about to cross the line and control is initiated to correct the situation.

[0021] In some embodiments, the LKA state also includes an OFF state, an ON state, and a Passive state, with hand-off detection performed only in the Intervention state.

[0022] In this embodiment, a torque sensor or a capacitance sensor on the steering wheel can be used to determine whether a "hands-off event" has occurred, thereby monitoring the execution status of the current lane keeping function.

[0023] As an example, if the torque value is less than KNm (K is the torque threshold, which can be 0.5Nm) and the time is greater than T0 (T0 is the time threshold, which can be 200ms), it is determined that the driver is in a hands-free state, that is, a hands-free event is detected.

[0024] The method provided in this application is based on existing torque or capacitive sensors, requires no additional hardware, is easy to implement in mass-produced vehicles, and balances innovation and practicality.

[0025] Current traditional hands-off warning systems primarily employ a three-tiered alarm system: a level 1 short-duration alarm is triggered when the hands are continuously off the wheel for more than 15 seconds; a level 3 long-duration alarm is triggered when the hands are continuously off the wheel for more than 30 seconds; and a level 3 driver takeover alarm is triggered when the hands are continuously off the wheel for more than 45 seconds. Upon driver takeover, the LKA (Lane Assist) function is deactivated; otherwise, the alarm continues indefinitely. Because there is no effective monitoring of repeated hands-off actions, and the assisted driving system continues to operate without any warning, drivers may not have enough time to take control of the steering wheel in the event of an accident, leading to traffic accidents.

[0026] The technical objective of this application is to address the lack of effective supervision of repeated hands-off behavior during L2 level assisted driving, and to provide a monitoring and alarm method for drivers who repeatedly take their hands off the steering wheel while maintaining lane position, thereby issuing a warning to the driver and reminding them to keep their hands on the steering wheel.

[0027] The following describes the system states, jump conditions, and state switching logic in the method provided in this application.

[0028] Description of the main system states in the embodiment: Start Status: Indicates that LKA status detection is enabled; First hands-off state: The driver briefly releases their hands while the LKA state is in the Intervention state (i.e., the first hands-off event is detected); at this time, no alarm is triggered as a transitional state, and the first timer is started; Second hands-off state: From the moment the driver triggers the first hands-off state, the accumulated time of the first timer is within the time window (i.e., the accumulated time does not exceed the preset time window). If the system detects that the state has gone through the correction state to the activation state and back to the correction state and then the hands-off event is detected again, a short alarm will be triggered. Third hands-off state: Within the time window (e.g., 180s, which can be calibrated) that triggered the first hands-off state, the driver went through the process of correcting the state, activating the state, and then correcting the state again after the second hands-off state, and the third hands-off event was detected; at this time, a long-term (10s) warning alarm is issued, mainly through the vehicle's display screen and sound alert.

[0029] Off-hand refresh: This is the update state. Once this state is entered, the timer will be reset and cleared.

[0030] If the driver triggers the first hands-off state and the accumulated time of the first timer does not exceed the time window, and multiple hands-off events (more than two) are detected, and each event goes through a cycle from correction state to activation state and back to correction state, then a long-duration (10s) alarm will be triggered each time the driver enters the third hands-off state. If hands-off events occur again, management will be implemented within this state.

[0031] "Each count" refers to each valid sell event. The key condition for determining whether a sell event is a valid count is that within a preset time window, the state transitions from Intervention to Active and back to Intervention, and a sell event is detected.

[0032] In the monitoring alarm method provided in this application, the basis for triggering the jump is that all hands-free detection only takes effect when the LKA state is "Intervention (i.e., the vehicle is about to cross the line and the system is correcting it)".

[0033] A schematic diagram of a monitoring and alarm method for multiple driver hands-off actions during lane keeping, provided in a specific embodiment, is as follows: Figure 1 As shown, the main jump conditions include: first jump condition T1, second jump condition T2, third jump condition T3, fourth jump condition T4, and fifth jump condition T5.

[0034] Start: Indicates that detection is enabled.

[0035] First jump condition T1: The current lane keeping assist function is in the intervention state, and it is detected that the driver has taken their hands off the wheel, and the LKA state is in the hands-off state; The second jump condition T2: When the system is in the first release state, if the accumulated time of the first timer exceeds the time window, and the T3 condition for release again is not met during the period, or the T5 condition for termination is met, then T2 is triggered.

[0036] The third jump condition T3: The current lane keeping function status has gone through a process from the correction state (Intervention state) to the activation state (Active state, vehicle returns to center) and then back to the Intervention state (vehicle is about to cross the line again), and the driver's hands-off event is detected again.

[0037] Fourth jump condition T4: When the system is in the second or third disconnect state, if the accumulated time of the first timer1 exceeds the time window and none of the termination conditions in the fifth jump condition T5 are triggered, then T4 is triggered.

[0038] The fifth jump condition T5 is a "reset condition" to terminate the current state, including: 1. When the driver regains control of the steering wheel in the corrective state and continues to hold it, the LKA state undergoes a complete switch from corrective state to active state and back to corrective state, and no hand-off event is detected during the switch. 2. LKA exits to standby mode; 3. Trigger a more advanced Level 3 hand-drop alarm.

[0039] The Level 3 hand-holding alarm (single prolonged hand-holding, such as continuous hand-holding exceeding 45 seconds) has the highest priority, higher than short-term and long-term alert alarms. This method automatically terminates when a Level 3 hand-holding alarm is triggered, thus filling the blind spots of the existing alarm system and avoiding multiple alarm conflicts.

[0040] The functions and timing methods of each timer are as follows: The first timer, timer1, accumulates time from the first time the item is released, and is used to determine whether the time window has been exceeded.

[0041] Second timer 2: Accumulates time starting from the second release, used to record the duration after the second release.

[0042] The third timer (timer3) accumulates time starting from the third release, and is used to record the duration after the third release.

[0043] Understandably, timer2 and timer3 do not require setting a time window; they are simply cumulative timers used to record the duration from the start of a certain off-hand event and to pass on or reset them during state transitions.

[0044] The following is combined with Figure 1 The following describes the state switching logic of the monitoring alarm method for multiple driver hands-off actions during lane keeping, step by step: Step 1: First release (no alarm in this state, only timer starts); When LKA is in the "correction state" (i.e. about to cross the line), the system detects the driver's hands being released for the first time. If T1 is met at this time, the system enters the first hands-free state and starts the first timer 1 to begin timing. After that, there are two scenarios. First, if the first timer1 has lasted for the time window and no "correction → activation → correction" is detected during the period (i.e., T3 is not satisfied), or T5 is triggered, then the second jump condition T2 is satisfied, and the detection is returned to the on state. The first timer1 is cleared, which means that there is no subsequent risk in this disposal, and the detection is reset.

[0045] The second scenario: If the first timer1 has not completed a time window and the third jump condition T3 is met, then the system enters the second hands-free state. The first timer1 continues to count (without resetting), and the second timer2 is started at the same time. Step 2: Release the hand again (can trigger a short alarm, such as 2 seconds).

[0046] After entering the second phase of selling off, there are three possible scenarios: 1. If the fifth jump condition T5 is triggered, return to the initial state, clear the first timer (timer1) and the second timer (timer2), and the alarm will terminate; 2. If the fifth jump condition T5 is not triggered, but the accumulated time of the first timer1 exceeds the time window, then T4 is triggered, returning to the first release state, and the time of the second timer2 is transferred to the first timer1, which is equivalent to only keeping the time of the most recent release and clearing the second timer2. 3. If T5 and T4 are not triggered, and T3 is met again (another "correction → activation → correction" and the driver's hands-off event is detected), then the third hands-off state is entered. The first timer1 and the second timer2 continue to count down, and timer3 is started at the same time, triggering a 10-second long alarm.

[0047] Step 3: Release the hand three times (triggers a 10-second alarm).

[0048] After entering the third stage of selling off, there are three possible scenarios: 1. If T5 is triggered, return to the initial state, clear all timers, and terminate the alarm.

[0049] 2. If T5 is not triggered, but the accumulated time of the first timer exceeds the time window, then T4 is triggered, returning to the second release state, transferring the timing of the second timer2 to the first timer1, and the timing of the third timer3 to the second timer2, and clearing the third timer3 (performing a timer reset operation, retaining the timing of the two most recent releases).

[0050] 3. If T4 and T5 are not triggered, and T3 is met again (after another "correction → activation → correction" cycle, the driver is detected to have taken their hands off the wheel), then the system enters the hands-off refresh state (an instantaneous operation state whose purpose is to reset the timestamp), and the timer is reset to retain the timestamps of the three most recent hands-off events.

[0051] Because T3 (disengagement) is still being triggered even after multiple instances of disengagement, the system will immediately return to the "third disengagement state" after the disengagement refresh, and continue to issue a 10-second long alarm.

[0052] Regardless of whether the system enters the second or third hands-free state, LKA will transmit the alarm status to the vehicle's instrument panel (displaying a prompt) and the entire vehicle system (triggering sound / vibration) so that the driver can perceive it.

[0053] In some embodiments, the shortest time for the state transition process is two execution cycles (2ms per execution cycle).

[0054] In this embodiment, the minimum time unit of the first timer, the second timer, and the third timer can be consistent with the execution cycle of the LKA system.

[0055] Short and long alarms can be triggered via vehicle infotainment display and / or sound alerts.

[0056] Existing hands-off alarms typically activate only when the driver is in the LKA (Low Hands-Off) state or in a corrective state, and the Level 1 alarm is only activated several seconds after the hands-off action occurs. This makes it impossible to detect multiple hands-off actions that occur after the hands have been released and then resumed gripping the vehicle during this period. This invention can detect multiple hands-off actions that do not reach the Level 1 hands-off alarm time threshold, and thus issue a corresponding alarm to remind the driver.

[0057] The monitoring alarm method provided in this application only counts when the driver detects the vehicle leaving the steering wheel when it is about to cross the line (i.e., in a corrective state). A short alarm is triggered when the driver leaves the steering wheel twice within a time window (e.g., 180 seconds), and a long alarm is triggered when the driver leaves the steering wheel three or more times. If the driver grips the steering wheel again or triggers a higher-level alarm during this period, the monitoring is reset. If the driver leaves the steering wheel frequently, a long alarm is triggered continuously and the most recent three records are retained.

[0058] like Figure 1 The LKA state is always in the active and corrective state. When the second release is triggered, a short alarm is triggered for 2 seconds. When the third release is triggered, a long alarm is triggered for 10 seconds to prompt the driver to take over. At this time, the first-level alarm can only be triggered after 15 seconds of continuous release.

[0059] Please see Figure 2 , Figure 3 , Figure 4 and Figure 5 .like Figure 2 As shown, the method of using the most recent time window (such as 180s) to detect the release behavior effectively reduces the occurrence of invalid alarms.

[0060] like Figure 3 As shown, the number of times a transaction is dropped beyond the time window will not accumulate, nor will it trigger the corresponding alarm.

[0061] If more than three sell-offs are detected within the time window, the system time will be refreshed, and the latest timestamps of the three sell-offs will be used. Figure 4 This ensures the real-time nature of the detection.

[0062] When the timer for the earliest slip exceeds the 180s (calibrable) sliding time window, the system will automatically reduce the number of slips detected and reallocate the timer for the remaining valid slips to ensure the accuracy of slip detection.

[0063] like Figure 4As shown, after the first sell-off, the first timer (timer1) starts accumulating time. When the third sell-off occurs, the timestamp corresponding to the first sell-off (i.e., the accumulated time of the first timer1) has exceeded 180 seconds. However, the time interval between the timestamp corresponding to the second sell-off (i.e., the accumulated time of the first timer1 at the time of the second sell-off) and the timestamp of the third sell-off (i.e., the accumulated time of the first timer1 at the time of the third sell-off) is still within 180 seconds. At this time, the system only counts two valid sell-offs, so a short-term alarm is triggered according to the rules, rather than a long-term alarm. When the fourth sell-off occurs, the timestamp corresponding to the second sell-off and the timestamp of the fourth sell-off (i.e., the accumulated time of the first timer1 at the time of the fourth sell-off) are still within 180 seconds. At this time, the system counts three valid sell-offs, which meets the conditions for a long-term alarm, so a long-term alarm is triggered.

[0064] The monitoring and alarm method provided in this application for drivers repeatedly taking their hands off the wheel while maintaining lane control does not record all hand-off events. Instead, it only counts the number of hand-off events within the most recent 180-second (calibrable) time window (the time window is controlled by timer1; earlier hand-offs exceeding the 180-second time window are not included in the statistics). This method can promptly capture dangerous behaviors of multiple hand-offs within a short period, avoiding missed alarms, while also eliminating interference from previous minor driver errors and preventing false alarms, ultimately ensuring accurate and timely alerts to the driver.

[0065] Existing technologies only address single, prolonged hands-off alarms and cannot cover multiple short-term hands-off alarms within a short period (e.g., three 3-second intervals each). Multiple short-term hands-off alarms indicate that the driver is continuously relaxed, and the risk is comparable to a single, prolonged hands-off alarm. This method, through "LKA state transition determination + time window," is the first to achieve effective monitoring of this scenario, ensuring that high-frequency risky behaviors are not missed.

[0066] The method provided in this application only counts the number of times a driver releases their hands in the LKA correction state (high risk), while not counting the number of times a driver releases their hands in the active state (low risk). This eliminates misjudgments caused by normal operations such as the driver adjusting their grip when the vehicle is stable. At the same time, the time window (e.g., 180 seconds, which can be calibrated) automatically filters out expired records, avoiding unnecessary alarms triggered by isolated single releases of hands, and solving the problem of frequent alarms interfering with driving in the prior art.

[0067] The warning intensity is dynamically adjusted based on the number of times the driver leaves the vehicle (two short alarms, three or more long alarms). This system alerts the driver to the risk in its early stages with short alerts and forces intervention with long alerts when the risk escalates, forming a risk-response matching tiered mechanism. This avoids the shortcomings of existing technologies where the single alarm intensity does not match the actual risk.

[0068] The above provides a detailed description of a monitoring and alarm method for drivers repeatedly taking their hands off the wheel while maintaining lane position, as provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the concept of this application and should not be construed as limiting the scope of protection of this application.

Claims

1. A method for monitoring and alarming when a driver repeatedly takes their hands off the wheel while maintaining a lane, characterized in that, include: Real-time monitoring of the current LKA status of the lane keeping assist function, wherein the LKA status includes at least a corrected state and an active state; The system uses sensors on the steering wheel to detect whether the driver has taken their hands off the steering wheel. When the current LKA state is in the corrective state, if a release event is detected for the first time, the system enters the first release state and starts the first timer to accumulate the time. If the accumulated time of the first timer does not exceed the preset time window, the current LKA state undergoes a switch from the corrected state to the activated state and back to the corrected state, and a release event is detected again, entering the second release state. The first timer continues to accumulate time, while the second timer starts to accumulate time from zero, and a short-term alarm is triggered. If, during the second hands-off state, the accumulated time of the first timer does not exceed the preset time window, and the current LKA state again sequentially transitions from the correction state to the activation state and back to the correction state, and a hands-off event is detected, the system enters the third hands-off state. The first and second timers continue to accumulate time, while the third timer starts accumulating time from zero, and a long-term warning alarm is triggered. If, during the third hands-off state, the accumulated time of the first timer does not exceed the preset time window, and the current LKA state again transitions from the correction state to the activation state and back to the correction state, and a hands-off event is detected, the system enters the hands-off refresh state. The timers are reset to retain the timestamps of the three most recent hands-offs, and a long-term warning alarm is continuously triggered. If any of the preset termination conditions are met, exit the current hands-free state, clear all timers, and terminate the alarm.

2. The method according to claim 1, characterized in that, The time window is a calibrable value, with a default value of 180s.

3. The method according to claim 1, characterized in that, The minimum time unit of the first timer, the second timer, and the third timer is consistent with the execution cycle of the LKA system.

4. The method according to claim 1, characterized in that, The termination conditions include: When the driver regains control of the steering wheel in the corrective state, and during the period of continuous holding, the LKA state undergoes a complete switch from the corrective state to the active state and back to the corrective state, and no hand-off event is detected during the switch process. LKA status exits to standby status; A Level 3 hand-drop alarm is triggered, and the Level 3 hand-drop alarm has a higher priority than the short-time alert alarm and the long-time alert alarm.

5. The method according to claim 1, characterized in that, In the hands-free refresh state, the timer reset operation is as follows: assign the time of the second timer to the first timer, assign the time of the third timer to the second timer, and then reset the third timer to zero and start timing again.

6. The method according to claim 1, characterized in that, In the first release state, if the accumulated time of the first timer exceeds the preset time window and no new release state is detected, the first release state is exited and the first timer is cleared.

7. The method according to claim 1, characterized in that, The LKA state also includes a closed state, an open state, and a standby state, with the hand release detection performed only in the corrective state.

8. The method according to claim 1, characterized in that, In the second hands-free state, if the accumulated time of the first timer exceeds the time window and no termination condition is triggered, the second hands-free state is exited and the first hands-free state is entered. At the same time, the current time of the second timer is assigned to the first timer, and then the second timer is cleared.

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