Contact detection system for steering wheel and vehicle regulation and control system and method

Abstract

The invention discloses a contact detection system for a steering wheel and a vehicle regulation and control system and method. Relates to the technical field of vehicle control, and can comprise a seat sensing device installed on a driving seat, a steering wheel sensing device installed on a steering wheel and a controller, and the controller is configured to collect a first sensing signal, output by the seat sensing device, of the driving seat; a second sensing signal, output by the steering wheel sensing device, of the steering wheel is collected, and the touch state of the driver on the steering wheel is judged according to whether the second sensing signal exceeds a preset detection threshold value or not; the controller is further configured to correct the second sensing signal or detect the threshold value in real time according to the change of the first sensing signal so as to judge the touch state. According to the detection system, the accuracy of the judged contact state is guaranteed, meanwhile, the vehicle can be regulated and controlled differentially or a driver is reminded according to different contact states, and the driving safety of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a contact detection system for a steering wheel, a vehicle control system and method. BACKGROUND

[0002] In order to improve the driving safety of a vehicle, especially for an automatic driving vehicle, it is necessary to detect the state of the driver holding the steering wheel to ensure that the vehicle is driven in the state of the driver holding the steering wheel.

[0003] At present, a steering wheel sensor device arranged on the steering wheel is generally used to detect whether the driver contacts the steering wheel. However, since there are various contact states between the driver and the steering wheel such as slight touch and double-hand holding, the existing technology controls the vehicle by using a unified standard for different contact states, which has low detection accuracy and leads to high driving risk of the vehicle. SUMMARY

[0004] Therefore, the embodiments of the present application provide a contact detection system for a steering wheel, a vehicle control system and method, which can correct the second sensing signal or the detection threshold in real time according to the change of the first sensing signal of the driver seat output by the seat sensor device to determine the touch state, that is, the first sensing signal of the driver seat output by the seat sensor device and the second sensing signal of the steering wheel output by the steering wheel sensor device are comprehensively used to determine the touch state, which can ensure the accuracy of the determined contact state and enable the vehicle to be differentially controlled or the driver to be reminded according to different contact states, thereby improving the driving safety of the vehicle.

[0005] To achieve the above object, in a first aspect, the embodiments of the present application provide a contact detection system for a steering wheel,

[0006] The contact detection system for a steering wheel comprises a seat sensor device installed on a driver seat, a steering wheel sensor device installed on a steering wheel and a controller, wherein the controller is configured to collect a first sensing signal of the driver seat output by the seat sensor device, collect a second sensing signal of the steering wheel output by the steering wheel sensor device, and determine the touch state of the driver on the steering wheel according to whether the second sensing signal exceeds a preset detection threshold. The controller is further configured to correct the second sensing signal or the detection threshold in real time according to the change of the first sensing signal to determine the touch state.

[0007] Optionally, the seat sensor device outputs a capacitance change signal amount proportional to the different body weights of the driver on the driver seat. The controller is further configured to determine a body size category of the driver on the driver seat according to the capacitance change signal amount, and correct the second sensing signal or the detection threshold in real time according to the body size category of the driver.

[0008] Optionally, the controller is further configured to determine the body size category of the driver on the driver seat as a small adult body size when the capacitance change signal amount indicates a body weight greater than a child weight threshold and less than or equal to a small adult body weight threshold, determine the body size category of the driver on the driver seat as a medium adult body size when the capacitance change signal amount indicates a body weight greater than the small adult body weight threshold and less than or equal to a medium adult body weight threshold, and determine the body size category of the driver on the driver seat as a large adult body size when the capacitance change signal amount indicates a body weight greater than the medium adult body weight threshold.

[0009] Optionally, the controller is further configured to determine the body size category of the driver on the driver seat as a small adult body size when the capacitance change signal amount is greater than a signal change threshold corresponding to the child weight threshold and less than or equal to a signal change threshold corresponding to the small adult body weight threshold, determine the body size category of the driver on the driver seat as a medium adult body size when the capacitance change signal amount is greater than the signal change threshold corresponding to the small adult body weight threshold and less than or equal to a signal change threshold corresponding to the medium adult body weight threshold, and determine the body size category of the driver on the driver seat as a large adult body size when the capacitance change signal amount is greater than the signal change threshold corresponding to the medium adult body weight threshold.

[0010] Optionally, the child weight threshold is 27.9 kg, the small adult body weight threshold is 51.25 kg, and the medium adult body weight threshold is 82.7 kg.

[0011] Optionally, the controller is further configured to determine that the driver seat is empty and directly determine that the driver does not touch the steering wheel when the capacitance change signal amount indicates a body weight less than or equal to the child weight threshold or the capacitance change signal amount is less than or equal to a signal change threshold corresponding to the child weight threshold.

[0012] Optionally, the controller is configured with correction coefficients corresponding to different signal intensity intervals of the first sensing signal or correction coefficients corresponding to different body size categories corresponding to the first sensing signal. The controller is further configured to correct the second sensing signal by using the correction coefficient corresponding to the first sensing signal.

[0013] Optionally, the controller is configured to assign a correction coefficient of 1.0 to a small-sized adult, assign a correction coefficient belonging to the interval [0.8, 0.9] to a medium-sized adult, and assign a correction coefficient belonging to the interval [0.6, 0.7] to a large-sized adult.

[0014] Optionally, the controller is further configured to determine that the driver does not touch the steering wheel if the corrected second sensing signal does not exceed the first detection threshold corresponding to a light touch; determine that the driver lightly touches the steering wheel with one hand if the corrected second sensing signal exceeds the first detection threshold corresponding to a light touch and does not exceed the second detection threshold corresponding to a heavy touch; determine that the driver heavily touches the steering wheel if the corrected second sensing signal exceeds the second detection threshold corresponding to a heavy touch and does not exceed the third detection threshold corresponding to a light grip with both hands; determine that the driver lightly grips the steering wheel with both hands if the corrected second sensing signal exceeds the third detection threshold corresponding to a light grip with both hands and does not exceed the fourth detection threshold corresponding to a heavy grip with both hands; and determine that the driver heavily grips the steering wheel with both hands if the corrected second sensing signal exceeds the fourth detection threshold corresponding to a heavy grip with both hands.

[0015] In a second aspect, an embodiment of the present application provides a vehicle control system, a vehicle control unit, and a contact detection system for a steering wheel according to the first aspect. The vehicle control unit is connected to the controller of the contact detection system, and is configured to control the vehicle according to the touch state of the steering wheel determined by the controller of the contact detection system.

[0016] In a third aspect, an embodiment of the present application provides a contact detection method for a steering wheel, including: collecting a first sensing signal of a driver seat output by a seat sensing device installed on the driver seat and a second sensing signal of a steering wheel output by a steering wheel sensing device installed on the steering wheel, and determining a touch state of the steering wheel by the driver according to whether the second sensing signal exceeds a preset detection threshold; and the contact detection method further includes: According to a change in the first sensing signal, the second sensing signal or the detection threshold is corrected in real time to determine the touch state.

[0017] In a fourth aspect, an embodiment of the present application provides a vehicle, including: a contact detection system for a steering wheel according to the first aspect or a vehicle control system according to the second aspect.

[0018] The embodiment of the above application has the following advantages or beneficial effects: the controller can correct the second sensing signal or the detection threshold in real time according to the change of the first sensing signal to determine the touch state, so that the determination of the touch state of the steering wheel is made in combination with the first sensing signal of the driver seat output by the seat sensing device and the second sensing signal of the steering wheel output by the steering wheel sensing device, that is, different first sensing signals correspond to drivers of different body types, and the same touch state of drivers of different body types corresponds to different second sensing signals, therefore, the accuracy of detecting the contact state of the steering wheel can be effectively improved by correcting the second sensing signal or the detection threshold in real time according to the change of the first sensing signal to determine the touch state. In addition, the technical scheme provided by the embodiment of the application can also make the vehicle differentially regulate and control the vehicle or remind the driver according to different contact states, thereby improving the driving safety of the vehicle.

[0019] The further effects of the above-mentioned non-conventional optional mode will be described in detail below in combination with the specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are used to better understand the application and do not constitute undue limitations on the application. Among them: Figure 1 is a structural schematic diagram of a contact detection system for a steering wheel according to an embodiment of the application; Figure 2 is an architectural schematic diagram of a vehicle regulation system according to an embodiment of the application; Figure 3 is a main flowchart of a contact detection method for a steering wheel according to an embodiment of the application; Figure 4 is a main flowchart of contact detection and vehicle regulation for a steering wheel according to an embodiment of the application; Figure 5 is an architectural diagram of a computing system for implementing contact detection according to an embodiment of the application. DETAILED DESCRIPTION

[0021] The exemplary embodiments of the application are described below in conjunction with the accompanying drawings, which include various details of the embodiments of the application to help understanding, and should be considered as merely exemplary. Therefore, those of ordinary skill in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the application. Also, for the sake of clarity and conciseness, the description below omits the description of well-known functions and structures.

[0022] It should be noted that the embodiments of the application and the technical features in the embodiments can be combined with each other without conflict.

[0023] It is found that different body types of drivers have different sensing signals when touching the steering wheel when using the steering wheel sensing device to collect the sensing signals of the steering wheel. This is because the palm area covered by the driver when touching the steering wheel and the force size have movement differences, and the palm area covered by the driver when touching the steering wheel and the force size will cause the size of the sensing signals of the steering wheel collected by the steering wheel sensing device to be different. If a simple touch threshold is set, there will be a risk of false touch, and the accuracy is not high. In order to solve the risk of false touch and improve the accuracy of touch state detection, the embodiment of the present application provides a contact detection system for the steering wheel.

[0024] Specifically, as shown in the figure, Figure 1 The contact detection system 10 can include a seat sensing device 11 installed on the driver seat, a steering wheel sensing device 12 installed on the steering wheel, and a controller 13.

[0025] The controller 13 is configured to collect the first sensing signal of the driver seat output by the seat sensing device 11, and collect the second sensing signal of the steering wheel output by the steering wheel sensing device 12, and determine the touch state of the driver on the steering wheel according to whether the second sensing signal exceeds the preset detection threshold.

[0026] Further, the controller 13 is further configured to correct the second sensing signal or the detection threshold in real time according to the change of the first sensing signal to determine the touch state.

[0027] Among them, the first sensing signal generally indicates the weight of the driver on the driver seat or the body type of the driver. The second sensing signal generally indicates the strength of the driver's hand touching the steering wheel. Generally speaking, the larger the contact area between the driver's hand and the steering wheel, the more forceful the driver's hand grips the steering wheel, and the stronger the second sensing signal. Because different contact states of the driver's hand and the steering wheel (such as three-finger light contact, single-palm contact, or double-hand tight grip, etc.) will produce second sensing signals of different intensities, the touch state of the driver on the steering wheel can be determined according to whether the second sensing signal exceeds the preset detection threshold. The touch state involved in the embodiment of the present application refers to different contact states of the driver's hand and the steering wheel, such as hand-off, three-finger contact, palm contact, single-hand grip, double-hand light grip, double-hand tight grip, etc.

[0028] As described above, since the second sensing signals generated by drivers of different body types are different for the same touch state (such as a light grip with both hands), using a unified determination standard (such as using a unified detection threshold) for drivers of different body types will result in low accuracy of the determination result. The contact detection system provided by the embodiment of the present application can modify the second sensing signal or the detection threshold in real time according to the change of the first sensing signal through the controller 13 to determine the touch state, so that the determination of the touch state of the steering wheel is obtained by combining the first sensing signal of the driver's seat output by the seat sensing device 11 and the second sensing signal of the steering wheel output by the steering wheel sensing device 12, that is, different first sensing signals correspond to drivers of different body types, and different second sensing signals correspond to the same touch state of drivers of different body types. Therefore, the second sensing signal or the detection threshold is modified in real time according to the change of the first sensing signal to determine the touch state, which can effectively improve the accuracy of detecting the contact state of the steering wheel. In addition, the technical solution provided by the embodiment of the present application can also enable the vehicle to differentially regulate the vehicle or remind the driver according to different contact states, thereby improving the driving safety of the vehicle.

[0029] It can be understood that the processing logic (such as modifying the second sensing signal or the detection threshold in real time according to the change of the first sensing signal to determine the touch state) configured by the controller 13 can be realized by a logic program or a logic algorithm loaded on the controller 13.

[0030] The contact detection system for the steering wheel provided by the embodiment of the present application is mainly realized by cooperation of the seat sensing device 11, the steering wheel sensing device 12 and the controller 13, and the controller 13 is the logic center of the whole system. The following will describe in detail each part of the contact detection system for the steering wheel and the cooperation between the parts.

[0031] In the embodiment of the present application, for the seat sensing device 11, such as Figure 1As shown, the seat sensor device 11 can include a sensing electrode 111, a shielding electrode 112 and a sensing circuit 113, wherein the sensing electrode 111 is installed at the bottom of the driver seat of the vehicle, and the sensing electrode 111 is connected with the controller 13; the shielding electrode 112 is located below the sensing electrode 111, that is, the shielding electrode 112 is also located at the bottom of the driver seat and at the same time below the sensing electrode 111; and the sensing circuit 113 is operatively coupled to the sensing electrode 111 and the shielding electrode 112. In the case that the driver seat bears different body weights, the spacing between the sensing electrode 111 and the shielding electrode 112 will change, and the change of the spacing will make the sensing circuit 113 generate a differentiated signal, based on which the controller 13 collects the first sensing signal with different signal strengths from the sensing electrode 111 for different body weight drivers. The seat sensor device 11 can use a double-channel capacitive sensing pad, and the seat sensor device 11 can share a ground signal with the steering wheel sensor device 12.

[0032] More specifically, in order to facilitate determining the body weight or body type of the driver based on the first sensing signal, the sensing electrode 111, the shielding electrode 112 and the sensing circuit 113 are designed so that the first sensing signal collected by the controller 13 from the sensing electrode in real time is proportional to the body weight of the driver, based on which the body weight of the driver or the body type of the driver can be deduced through the first sensing signal. The first sensing signal ΔC(t) is generally the difference between the electrical signal C(t) generated in real time by the sensing electrode 111, the shielding electrode 112 and the sensing circuit 113 and the calibrated electrical signal reference value C0 (i.e. ΔC(t)= C(t)- C0), that is, the first sensing signal is also essentially the capacitive change signal amount of the seat sensor device 11. The calibrated electrical signal reference value C0 is the electrical signal collected by the controller 13 from the sensing electrode when the driver seat is empty. The calibrated electrical signal reference value C0 can be 0 or a non-zero fixed value.

[0033] Therefore, the seat sensor device 11 provided by the embodiment of the present application outputs a capacitive change signal amount proportional to the different body weights of the driver on the driver seat, wherein the proportional relationship between the different body weights of the driver and the capacitive change signal amount can be determined by calibrating the design of the sensing electrode 111, the shielding electrode 112 and the sensing circuit 113, and the proportional relationship is not limited herein.

[0034] Based on the output of the capacitive change signal amount proportional to the different body weights of the driver by the seat sensor device 11, the controller is further configured to determine the body type category of the driver on the driver seat according to the capacitive change signal amount, and to correct the second sensing signal or the detection threshold in real time according to the body type category of the driver.

[0035] The body type category of the driver can be divided according to the standard body weight range of different heights of different genders, or can be directly divided according to the weight in combination with the test scene. For example, for the body type category of the driver, for women, the height is about 160 cm, the weight range [45kg, 50kg) corresponds to the small body type, the weight range [50kg, 55kg) corresponds to the small body type, the weight range [55kg, 60kg) corresponds to the medium body type, and the weight greater than or equal to 60kg corresponds to the large body type. For men, the height is about 175 cm, the weight range [60kg, 65kg) corresponds to the small body type, the weight range [65kg, 75kg) corresponds to the small body type, the weight range [75kg, 85kg) corresponds to the medium body type, and the weight greater than or equal to 85kg corresponds to the large body type. In addition, the gender can not be distinguished, and the test calibration method can be directly used to divide a plurality of body type categories and the weight range corresponding to the plurality of body type categories. During the test calibration of the weight range corresponding to the plurality of body type categories, the strength difference between the standard body weight and different genders can be introduced to effectively improve the rationality and feasibility of the plurality of body type categories and the weight range of the plurality of body type categories calibrated by the test, so that the corrected second sensing signal or detection threshold is more accurate.

[0036] In the embodiment of the application, the plurality of body type categories divided by the calibration method at least include small adult, medium adult and large adult. The test results show that the body type category of the driver is divided into at least three categories, which can achieve the purpose of determining the body type category of the driver using less computing resources of the controller, can select a controller 13 with lower cost, and can ensure that the accuracy of the determination result is more than 98% and the false positive rate is less than 1%.

[0037] Based on the small adult, medium adult and large adult divided above, the controller can determine the weight category of the driver according to the capacitance change signal amount.

[0038] Specifically, the controller 13 determines the weight category of the driver according to the capacitance change signal amount in a first implementation: the controller 13 is further configured to determine the size category of the driver on the driver seat as small adult if the weight indicated by the capacitance change signal amount is greater than the child weight threshold and less than or equal to the small adult weight threshold, determine the size category of the driver on the driver seat as medium adult if the weight indicated by the capacitance change signal amount is greater than the small adult weight threshold and less than or equal to the medium adult weight threshold, and determine the size category of the driver on the driver seat as large adult if the weight indicated by the capacitance change signal amount is greater than the medium adult weight threshold. That is, the size category of the driver is determined by converting the capacitance change signal amount into the weight of the driver, and then comparing the weight of the driver with the weight threshold corresponding to different size categories.

[0039] In addition, the controller 13 determines the weight category of the driver according to the capacitance change signal amount in a second implementation: the controller 13 is further configured to determine the size category of the driver on the driver seat as small adult if the capacitance change signal amount is greater than the signal change threshold corresponding to the child weight threshold and less than or equal to the signal change threshold corresponding to the small adult weight threshold, determine the size category of the driver on the driver seat as medium adult if the capacitance change signal amount is greater than the signal change threshold corresponding to the small adult weight threshold and less than or equal to the signal change threshold corresponding to the medium adult weight threshold, and determine the size category of the driver on the driver seat as large adult if the capacitance change signal amount is greater than the signal change threshold corresponding to the medium adult weight threshold. That is, the signal change thresholds corresponding to the weight thresholds of different size categories are configured in the controller 13, based on which the size category of the driver can be directly determined by comparing the capacitance change signal amount with the signal change thresholds corresponding to different size categories.

[0040] In combination with the standard weight of human and the determination result, the child weight threshold involved in the embodiments of the present application is generally 27.9 kg, the small adult weight threshold is generally 51.25 kg, and the medium adult weight threshold is generally 82.7 kg. It can be understood that the signal change thresholds corresponding to the above various size categories are respectively calibrated based on the child weight threshold, the small adult weight threshold and the medium adult weight threshold.

[0041] Further, the controller 13 is further configured to determine that the driver does not touch the steering wheel directly when the body weight indicated by the capacitance change signal amount is less than or equal to the child body weight threshold value or the capacitance change signal amount is less than or equal to the signal change threshold value corresponding to the child body weight threshold value, and determine that the driver seat is empty. Since the vehicle generally does not allow children to drive and does not allow driving without a driver, after determining that the driver seat is empty, it is directly determined that the driver does not touch the steering wheel, which can avoid the situation that the user loads a simulation device on the steering wheel to pretend to be a driver driving, so as to ensure that the driver is always located in the driver seat during vehicle driving, and improve driving safety. In addition, when the child scene is identified directly through the capacitance change signal amount of the seat sensor device, the driver can be determined not to touch the steering wheel within 50 ms, so that the automatic driving system (ADAS) response time meets ≤300 ms for the child driving scene or the no-driver scene, and the vehicle driving safety is ensured.

[0042] The calibration process for various body type categories: the steering wheel and seat are placed in a target environment with stable temperature and humidity for 1 hour, and the controller collects a plurality of sets of empty load samples in the empty seat and empty steering wheel state. Then, a plurality of objects of different body type categories (children, small body type, medium body type and large body type) are sequentially seated, and the first sensor signal output by the seat sensor device is recorded. According to the first sensor signal corresponding to the object of the body type category, the body weight threshold value or the signal change threshold value corresponding to the body type category is divided, so that the accuracy of the body type category division reaches 100% accuracy.

[0043] In addition to the cooperation between the controller 13 and the seat sensor device 11 described above, the technical solution provided by the embodiment of the application also relates to the cooperation between the controller 13 and the steering wheel sensor device 12.

[0044] Specifically, as shown in Figure 1 , for the steering wheel sensor device 12, it mainly includes a steering wheel sensing layer 121 and a grounding end 122 arranged in the steering wheel, and the steering wheel sensing layer 121 is connected with the controller 13 to detect the capacitance signal generated by the contact between the surface of the steering wheel and the hand of the driver. Specifically, the working principle of the steering wheel sensor device 12 is that when the steering wheel is not subjected to any pressure (i.e., the driver does not place his hand on the steering wheel), the internal sensing pad of the steering wheel sensing layer 121 and the grounding end 122 generate an initial capacitance value Q(0), and when the steering wheel is subjected to any pressure (i.e., the hand of the driver contacts the sensor), the internal sensing pad of the steering wheel sensing layer 121 and the grounding end 122 generate a capacitance 20, and the capacitance value Q(t1) of the capacitance 20 and the initial capacitance value Q(0) form a loop, so that the total capacitance value Q(t2) of the steering wheel sensor device 12 collected by the controller 13 rises to Q(t2). The total capacitance value Q(t2) is the second sensor signal described above.

[0045] Since the second sensing signals generated by drivers of different body type categories contacting the steering wheel are different for the same touch state, the second sensing signals of drivers of different body type categories can be corrected to a uniform standard so that the touch state of the driver to the steering wheel is determined based on a uniform detection threshold. Alternatively, the detection threshold can be corrected so that the touch state of the driver to the steering wheel is determined based on different detection thresholds for drivers of different body type categories.

[0046] Specifically, for the specific implementation that the second sensing signals of drivers of different body type categories are corrected to a uniform standard, the controller 13 is configured with correction coefficients corresponding to different signal intensity intervals of the first sensing signals or correction coefficients corresponding to different body type categories of different first sensing signals; based on this, the controller is further configured to correct the second sensing signals using the correction coefficients corresponding to the first sensing signals. Wherein the different signal intensity intervals corresponding to the first sensing signals are consistent with the different body type categories. For the correction coefficients, the greater the body weight corresponding to the general body type category, the smaller the correction coefficient corresponding to the body type category or the correction coefficient corresponding to the signal intensity interval of the body type category.

[0047] Specifically, in the embodiment of the present application, the correction coefficient of any body type category can be set to 1.0, and the correction coefficients of other body type categories are determined by measurement based on this. Further, based on the determination results of the correction coefficients of different body type categories, the controller 13 is configured to assign a correction coefficient of 1.0 to small adult, assign a correction coefficient belonging to the interval [0.8, 0.9] to medium adult, and assign a correction coefficient belonging to the interval [0.6, 0.7] to large adult. Through testing, it is found that taking the correction coefficient of 1.0 assigned to small adult as a reference to determine the correction coefficients of drivers of other body type categories helps to improve the accuracy of the correction results and the contact detection results and reduce the misjudgment rate.

[0048] The following is an example of assigning a correction coefficient of 1.0 to small adult body type, and a detailed description of determining the correction coefficient corresponding to the second sensing signal of each body type category. Specifically, referring to the dummy type used in the frontal crash test specified in the United States Federal Motor Vehicle Safety Standard FMVSS 208 as a standard, the required detection body weight range is divided, and the correction coefficient is obtained by designing the frontal crash test and calibration method. For each body type category calibration, at least 5 detection targets and 4 vehicle steering wheels with steering wheel sensor devices are contacted, and 4 driver seat seats with seat sensor devices are seated. The controller is connected to the steering wheel sensor device and the seat sensor device to receive the sensing signals of the steering wheel sensor device and the seat sensor device. The test vehicle with the steering wheel sensor device and the seat sensor device is placed in a reference environment which can be designed to control the sensing signals of the steering wheel sensor device and the seat sensor device received by the controller at a target temperature and humidity.

[0049] The following is an example of assigning a correction coefficient of 1.0 to small adult body type, and a detailed description of determining the correction coefficient corresponding to the second sensing signal of each body type category. Specifically, referring to the dummy type used in the frontal crash test specified in the United States Federal Motor Vehicle Safety Standard FMVSS 208 as a standard, the required detection body weight range is divided, and the correction coefficient is obtained by designing the frontal crash test and calibration method. For each body type category calibration, at least 5 detection targets and 4 vehicle steering wheels with steering wheel sensor devices are contacted, and 4 driver seat seats with seat sensor devices are seated. The controller is connected to the steering wheel sensor device and the seat sensor device to receive the sensing signals of the steering wheel sensor device and the seat sensor device. The test vehicle with the steering wheel sensor device and the seat sensor device is placed in a reference environment which can be designed to control the sensing signals of the steering wheel sensor device and the seat sensor device received by the controller at a target temperature and humidity.

[0050] Step-2: Calibrate the classification threshold of the second sensing signal. Let several small adults simulate various touch states of the steering wheel, and the controller records the second sensing signal output by the steering wheel sensor device; According to the small adult, adjust the recognition threshold corresponding to the different touch states of the small adult, until the recognition accuracy reaches the preset accuracy threshold; For example, various touch states can be: single-handedly touching the steering wheel with a 3-finger contact area between the steering wheel (i.e. soft contact), single-handedly or double-handedly touching the steering wheel with a palm (i.e. heavy contact), double-handedly lightly holding and normally double-handedly grasping.

[0051] Step-3: Calibrate the correction coefficient of the second sensing signal corresponding to different body type categories.

[0052] Step-3A: For small adults, record the corresponding second sensing signal Q s , and confirm that the correction coefficient k0 of the small adult is 1.0; Step-3B: For medium adults, let several medium adults simulate various touch states of the steering wheel, and the controller records the second sensing signal Q s ' output by the steering wheel sensor device, and calculates the second sensing signal Q s ' corresponding to each touch state of the medium adult, and calculates Q s ​'xk1, the value target of k1: traverse k1e[0.8, 0.9] with 0.01 step, make Q s 'xk1 falls in Q s 'Q corresponding to the touch state of the subject s The median ± 5% range, the control accuracy is ≥98.2%, and the optimal k1 with the lowest false positive rate and <1% false negative rate is found; Step-3C: for large adults, similar to Step-3B, the difference is that the correction coefficient k2 corresponding to large adults is traversed k2e[0.6, 0.7], and the optimal k2 is found.

[0053] It is worth noting that the above calibration process for multiple body type categories can be completed together with the correction coefficient calibration process.

[0054] In addition, the correction coefficient of the detection threshold corresponding to different body type categories can also be calibrated, and the calibration process is similar to the correction coefficient corresponding to the second sensing signal, which will not be described here.

[0055] In addition, the above no-load value, weight threshold corresponding to different body type categories, detection threshold corresponding to different touch states for small body type people, and correction coefficient k1 for medium body type people and correction coefficient k2 for large body type people can be written into the controller for the controller to call when logical operation.

[0056] For the technical scheme of correcting the second sensing signal by using the correction coefficient, the controller is further configured to, in the case that the corrected second sensing signal does not exceed the first detection threshold corresponding to the light touch, determine that the driver does not touch the steering wheel; in the case that the corrected second sensing signal exceeds the first detection threshold corresponding to the light touch and does not exceed the second detection threshold corresponding to the heavy touch, determine that the driver single-handedly touches the steering wheel; in the case that the corrected second sensing signal exceeds the second detection threshold corresponding to the heavy touch and does not exceed the third detection threshold corresponding to the two-handed light grip, determine that the driver heavily touches the steering wheel; in the case that the corrected second sensing signal exceeds the third detection threshold corresponding to the two-handed light grip and does not exceed the fourth detection threshold corresponding to the two-handed grip, determine that the driver two-handedly grips the steering wheel; in the case that the corrected second sensing signal exceeds the fourth detection threshold corresponding to the two-handed grip, determine that the driver two-handedly grips the steering wheel. The first detection threshold, the second detection threshold, the third detection threshold and the fourth detection threshold are obtained based on Step-2 in the above calibration method.

[0057] Furthermore, in the steering wheel contact detection system provided in this embodiment of the invention, the seat sensing device 11 and the steering wheel sensing device 12 are connected to the same controller 13, enabling the controller 13 to correct the second sensing signal or detection threshold in real time based on the first sensing signal output by the seat sensing device 11. Additionally, connecting the seat sensing device 11 and the steering wheel sensing device 12 to the same controller 13 reduces the hardware consumption of the contact detection system, effectively lowering its cost.

[0058] Among them, controller 13 is generally the local controller of the vehicle. In this embodiment of the invention, the local controller of the steering wheel contact detection system can be an MCU S32K344+ dual-channel ADC. The MCU S32K344+ dual-channel ADC integrates two independent analog-to-digital conversion circuit chips, which can simultaneously or at high speed alternately sample and digitize two analog input signals.

[0059] In addition, such as Figure 2 As shown, for the contact detection system for the steering wheel provided in the above embodiments, a sampling switching switch 14 can also be set between the seat sensing device 11 and the controller 13 and between the steering wheel sensing device 12 and the controller 13, so that the controller 13 can be controlled to collect the first sensing signal of the seat sensing device 11 and the second sensing signal of the steering wheel sensing device 12 respectively through the sampling switching switch 14.

[0060] In addition, the steering wheel contact detection system may also include a common shielded power supply structure 15, which can prevent mutual interference between the seat sensing device 11 and the steering wheel sensing device 12.

[0061] In addition, the number of the aforementioned seat sensor 11 and steering wheel sensor 12 can be one or more.

[0062] Furthermore, embodiments of the present invention also provide a vehicle control system. Specifically, as... Figure 2 As shown, the vehicle control system may include: a vehicle controller 30 and a steering wheel contact detection system 10 provided in any of the above embodiments, wherein, The vehicle controller 30 is connected to the controller 11 included in the contact detection system 10, and is used to control the vehicle based on the touch state of the steering wheel determined by the controller 11 included in the contact detection system 10. The vehicle controller 30 and the controller 11 are connected via an SPI bus, and the vehicle controller 30 sends a clock synchronization signal CLK to the controller 11 to keep the vehicle controller 30 and the controller 11 clock synchronized.

[0063] Specifically, the regulating vehicle can ensure that the driver is reminded to drive safely through the vehicle display interface 40, and the vehicle power system 50 is controlled to adjust the vehicle speed or brake, etc., such as, in the case where the contact detection system 10 detects that the driver's seat of the vehicle is empty, the vehicle controller 30 controls the vehicle power system 50 to park by the roadside, and turns on the double flasher, etc.

[0064] In addition, the vehicle controller 30 can also be connected with other controllers 60 such as power management controllers, networking controllers, etc., to manage the various functions of the vehicle as a whole.

[0065] In addition, whether it is for the controller 13 or the vehicle controller 30 can be any conventional processor, such as a commercially available central processing unit (CPU). Alternatively, the processor can be a special-purpose device such as an application specific integrated circuit (ASIC) or other hardware-based processor. Those of ordinary skill in the art will understand that the processor, computer, or memory can actually include multiple processors, computers, or memories that can or can not be stored in the same physical housing. For example, the memory can be a hard drive or other storage medium located in a housing different from the computer. Therefore, references to the processor or computer will be understood to include references to a collection of processors or computers or memories that can or can not operate in parallel. Rather than using a single processor to perform the steps described herein, some components such as the steering assembly and the deceleration assembly can each have their own processor that only performs calculations related to the functions specific to the component.

[0066] In addition, the various structures described above, such as the vehicle controller 30, the power system 50, the vehicle display interface 40, and other controllers 60, etc., can be powered by the power supply system 70.

[0067] Further, the embodiments of the present application also provide a contact detection method for a steering wheel. Specifically, as shown in Figure 3 The contact detection method for a steering wheel can include the following steps: Step S301: Collecting the first sensing signal of the driver's seat output by the seat sensing device installed on the driver's seat and the second sensing signal of the steering wheel output by the steering wheel sensing device installed on the steering wheel, and determining the touch state of the driver on the steering wheel according to whether the second sensing signal exceeds a preset detection threshold; Step S302: According to the change of the first sensing signal, the second sensing signal or the detection threshold is corrected in real time to determine the touch state.

[0068] The contact detection method for the steering wheel provided by the embodiment determines the touch state of the steering wheel in combination with the first sensing signal of the driver seat output by the seat sensing device and the second sensing signal of the steering wheel output by the steering wheel sensing device, that is, different first sensing signals correspond to drivers of different body types, and the same touch state of the drivers of different body types corresponds to different second sensing signals. Therefore, the contact state of the steering wheel is determined by real-time correction of the second sensing signal or the detection threshold according to the change of the first sensing signal, which can effectively improve the accuracy of detecting the contact state of the steering wheel. In addition, the technical scheme provided by the embodiment can also make the vehicle differentially regulate the vehicle or remind the driver according to different contact states, thereby improving the driving safety of the vehicle.

[0069] Specifically, the contact detection method for the steering wheel can further include determining the body type category of the driver on the driver seat according to the capacitance change signal amount, and based on this, the specific implementation of real-time correction of the second sensing signal or the detection threshold can include real-time correction of the second sensing signal or the detection threshold according to the body type category of the driver.

[0070] Further, there can be two specific implementation schemes for determining the body type category of the driver on the driver seat.

[0071] Implementation scheme one: in the case where the body weight indicated by the capacitance change signal amount is greater than the child weight threshold and less than or equal to the small adult body weight threshold, the body type category of the driver on the driver seat is determined to be a small adult; in the case where the body weight indicated by the capacitance change signal amount is greater than the small adult body weight threshold and less than or equal to the medium adult body weight threshold, the body type category of the driver on the driver seat is determined to be a medium adult; and in the case where the body weight indicated by the capacitance change signal amount is greater than the medium adult body weight threshold, the body type category of the driver on the driver seat is determined to be a large adult.

[0072] Implementation scheme two: in the case where the capacitance change signal amount is greater than the signal change threshold corresponding to the child weight threshold and less than or equal to the signal change threshold corresponding to the small adult body weight threshold, the body type category of the driver on the driver seat is determined to be a small adult; in the case where the capacitance change signal amount is greater than the signal change threshold corresponding to the small adult body weight threshold and less than or equal to the signal change threshold corresponding to the medium adult body weight threshold, the body type category of the driver on the driver seat is determined to be a medium adult; and in the case where the capacitance change signal amount is greater than the signal change threshold corresponding to the medium adult body weight threshold, the body type category of the driver on the driver seat is determined to be a large adult.

[0073] Wherein, the child weight threshold is 27.9kg, the small adult weight threshold is 51.25kg, and the medium adult weight threshold is 82.7kg.

[0074] In the embodiment of the present application, the contact detection method for the steering wheel can further include: in the case that the weight indicated by the capacitance change signal amount is less than or equal to the child weight threshold or the capacitance change signal amount is less than or equal to the signal change threshold corresponding to the child weight threshold, determining that the driver seat is empty and directly determining that the driver does not touch the steering wheel.

[0075] In the contact detection method for the steering wheel provided in the embodiment of the present application, the correction coefficient corresponding to the different signal strength intervals of the first sensing signal or the correction coefficient corresponding to the different body type categories of the different first sensing signals is configured; and based on this, the second sensing signal is corrected by using the correction coefficient corresponding to the first sensing signal.

[0076] Specifically, the small adult is assigned a correction coefficient of 1.0, the medium adult is assigned a correction coefficient belonging to the interval [0.8, 0.9], and the large adult is assigned a correction coefficient belonging to the interval [0.6, 0.7].

[0077] In the embodiment of the present application, the specific implementation scheme of determining the touch state can include: in the case that the corrected second sensing signal does not exceed the first detection threshold corresponding to the light touch, determining that the driver does not touch the steering wheel; in the case that the corrected second sensing signal exceeds the first detection threshold corresponding to the light touch and does not exceed the second detection threshold corresponding to the heavy touch, determining that the driver single-handedly touches the steering wheel; in the case that the corrected second sensing signal exceeds the second detection threshold corresponding to the heavy touch and does not exceed the third detection threshold corresponding to the two-handed light grip, determining that the driver heavily touches the steering wheel; in the case that the corrected second sensing signal exceeds the third detection threshold corresponding to the two-handed light grip and does not exceed the fourth detection threshold corresponding to the two-handed grip, determining that the driver two-handedly grips the steering wheel; and in the case that the corrected second sensing signal exceeds the fourth detection threshold corresponding to the two-handed grip, determining that the driver two-handedly grips the steering wheel.

[0078] The contact detection method for the steering wheel and the whole vehicle control based on the contact detection method provided in the embodiments of the present application will be described in detail below with a specific example. Specifically, as shown in the figure, Figure 4 The contact detection method for the steering wheel and the whole vehicle control based on the contact detection method can include the following steps: Step S401: Real-time acquisition of the first sensing signal of the driver seat and the second sensing signal of the steering wheel.

[0079] Wherein, the acquisition of the first sensing signal of the driver seat and the second sensing signal of the steering wheel can be completed by the contact detection system for the steering wheel provided in the above various embodiments.

[0080] Step S402: Compare the first sensing signal of the driver seat with the signal change threshold corresponding to the child weight threshold value, if the first sensing signal of the driver seat is less than or equal to the signal change threshold corresponding to the child weight threshold value, Y1, execute step S403; if the first sensing signal of the driver seat is greater than the signal change threshold corresponding to the child weight threshold value, N1, execute step S405. Step S403: Determine that the steering wheel is in a hand-off state, and output a signal H0 indicating the hand-off state to the vehicle controller.

[0081] Step S404: The vehicle controller controls the vehicle to park by the roadside and turn on the double flash, and end the current process.

[0082] Step S405: Compare the first sensing signal of the driver seat with the signal change threshold corresponding to the weight threshold value of each body type category, if the comparison result indicates that the body type category of the driver is a small adult, Y2, execute step S406; if the comparison result indicates that the body type category of the driver is a medium adult, Y3, execute step S407; if the comparison result indicates that the body type category of the driver is a large adult, Y4, execute step S408.

[0083] Step S406: Correct the second sensing signal by using a correction coefficient corresponding to a small adult (such as 1.0), and execute step S409.

[0084] Step S407: Correct the second sensing signal by using a correction coefficient corresponding to a medium adult, and execute step S409.

[0085] Step S408: Correct the second sensing signal by using a correction coefficient corresponding to a large adult, and execute step S409.

[0086] Step S409: Determine the touch state of the steering wheel by using the corrected second sensing signal and the configured detection threshold value.

[0087] Step S410: Provide the touch state to the vehicle controller, and the vehicle controller controls the vehicle according to the touch state and a preset vehicle control strategy matched with the touch state.

[0088] The vehicle control strategy can be an existing control strategy configured for the vehicle based on different touch states.

[0089] In addition, Figure 4 The corrected second sensing signal is only an example, and the detection threshold value corresponding to different body type categories can also be corrected, so that different body type categories correspond to different detection threshold values, which can also improve the accuracy of determining the touch state of the steering wheel.

[0090] Embodiments of the present application provide a vehicle. The vehicle can include the contact detection system for steering wheel according to any of the above embodiments or the vehicle control system according to any of the above embodiments.

[0091] Further, referring to Figure 5 which shows a structural schematic diagram of a computing system 500 suitable for implementing the contact detection method for steering wheel and the vehicle control based on the contact detection method according to embodiments of the present application. Figure 5 The computing system shown is merely an example and should not bring any limitation to the functions and use range of embodiments of the present application.

[0092] As shown in Figure 5 , the computing system 500 includes a central processing unit (CPU) 501 which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 502 or programs loaded from a storage portion 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. The CPU 501, the ROM 502 and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0093] The following components are connected to the I / O interface 505: an input portion 506; an output portion 507 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), and the like, and a speaker, and the like; a storage portion 508 including, for example, a hard disk, and the like; and a communication portion 509 including, for example, a LAN card, a modem, and the like. The communication portion 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as necessary. A removable media 511 such as a magnetic disk, a magneto-optical disk, a semiconductor memory, and the like is attached to the drive 510 as necessary, so that a computer program read therefrom is installed into the storage portion 508 as necessary.

[0094] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a software program. For example, embodiments of the present application include a program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network by the communication portion 509 and / or installed from the removable media 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present application are performed.

[0095] ​It should be noted that the computer-readable medium shown in the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component. In the present application, the computer-readable signal medium can include a data signal carried in a baseband or as a part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to an electromagnetic signal, an optical signal or any suitable combination of the above. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate or transmit a program for use by or in conjunction with an instruction execution system, device or component. The program code contained on the computer-readable medium can be transmitted by any suitable medium, including but not limited to wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0096] The flowcharts and block diagrams in the drawings illustrate the possible implementation architectures, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment or a part of code containing one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in different order than that shown in the drawings. For example, two blocks that are shown in succession can actually be executed substantially in parallel, and sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams or flowcharts, and the combination of blocks in the block diagrams or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0097] As another aspect, the application also provides a computer readable medium, which can be included in the device described in the above embodiments, or can exist independently without being assembled into the device. The computer readable medium carries one or more programs, when the one or more programs are executed by the device, the device includes: collecting a first sensing signal of a driver seat output by a seat sensing device installed on the driver seat and a second sensing signal of a steering wheel output by a steering wheel sensing device installed on the steering wheel, and determining a touch state of the driver on the steering wheel according to whether the second sensing signal exceeds a preset detection threshold; and correcting the second sensing signal or the detection threshold in real time according to a change of the first sensing signal to determine the touch state.

[0098] According to the technical scheme of the embodiment of the application, the second sensing signal or the detection threshold is corrected in real time according to the change of the first sensing signal to determine the touch state, so that the determination of the touch state on the steering wheel is combined with the first sensing signal of the driver seat output by the seat sensing device and the second sensing signal of the steering wheel output by the steering wheel sensing device, that is, different first sensing signals corresponding to drivers of different body types are considered, and different second sensing signals corresponding to the same touch state of drivers of different body types are considered. Therefore, the second sensing signal or the detection threshold is corrected in real time according to the change of the first sensing signal to determine the touch state, which can effectively improve the accuracy of detecting the contact state of the steering wheel. In addition, the technical scheme provided by the embodiment of the application can also make the vehicle differentially regulate and control the vehicle or remind the driver according to different contact states, thereby improving the driving safety of the vehicle.

[0099] The above detailed description does not constitute a limitation on the protection scope of the application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can occur depending on design requirements and other factors. Any modification, equivalent replacement and improvement within the spirit and principle of the application should be included in the protection scope of the application.

Claims

1. A contact detection system for a steering wheel, comprising: A seat sensor installed in the driver's seat, a steering wheel sensor installed in the steering wheel, and a controller, wherein the controller is configured to acquire a first sensing signal of the driver's seat output by the seat sensor. The system collects the second sensing signal of the steering wheel output by the steering wheel sensing device, and determines the driver's touch state on the steering wheel based on whether the second sensing signal exceeds a preset detection threshold; characterized in that... The controller is also configured to adjust the second sensing signal or the detection threshold in real time based on the change of the first sensing signal to determine the touch state.

2. The contact detection system according to claim 1, characterized in that, The seat sensing device outputs a capacitance change signal that is proportional to the driver's weight, based on the different weights of the driver in the driver's seat. The controller is also configured to determine the body type of the driver in the driver's seat by changing the signal quantity based on the capacitance, and to correct the second sensing signal or the detection threshold in real time based on the driver's body type.

3. The contact detection system according to claim 2, characterized in that, The controller is further configured to determine the driver's body type as a small adult when the weight indicated by the capacitance change signal is greater than a child's weight threshold and less than or equal to a small adult's weight threshold; to determine the driver's body type as a medium adult when the weight indicated by the capacitance change signal is greater than a small adult's weight threshold and less than or equal to a medium adult's weight threshold; and to determine the driver's body type as a large adult when the weight indicated by the capacitance change signal is greater than a medium adult's weight threshold. or, The controller is further configured to determine the driver's body type as a small adult when the capacitance change signal is greater than the signal change threshold corresponding to the child's weight threshold and less than or equal to the signal change threshold corresponding to the small adult's weight threshold; to determine the driver's body type as a medium adult when the capacitance change signal is greater than the signal change threshold corresponding to the small adult's weight threshold and less than or equal to the signal change threshold corresponding to the medium adult's weight threshold; and to determine the driver's body type as a large adult when the capacitance change signal is greater than the signal change threshold corresponding to the medium adult's weight threshold.

4. The contact detection system according to claim 3, characterized in that, The weight threshold for children is 27.9 kg, the weight threshold for small-sized adults is 51.25 kg, and the weight threshold for medium-sized adults is 82.7 kg.

5. The contact detection system according to any one of claims 2 to 4, characterized in that, The controller is further configured to determine that the driver's seat is empty and directly determine that the driver has not touched the steering wheel if the weight indicated by the capacitance change signal is less than or equal to a child's weight threshold or if the capacitance change signal is less than or equal to a signal change threshold corresponding to the child's weight threshold.

6. The contact detection system according to any one of claims 1 to 4, characterized in that, The controller is configured with correction coefficients corresponding to different signal intensity ranges of the first sensing signal or correction coefficients corresponding to different body type categories of the first sensing signal. The controller is also configured to correct the second sensing signal using a correction coefficient corresponding to the first sensing signal.

7. The contact detection system according to claim 6, characterized in that, The controller is configured to assign a correction factor of 1.0 to small-sized adults, a correction factor in the range [0.8, 0.9] to medium-sized adults, and a correction factor in the range [0.6, 0.7] to large-sized adults.

8. The contact detection system according to claim 6 or 7, characterized in that, The controller is also configured to determine that the driver has not touched the steering wheel if the corrected second sensing signal does not exceed the first detection threshold corresponding to the light touch. If the corrected second sensing signal exceeds the first detection threshold corresponding to a light touch but does not exceed the second detection threshold corresponding to a heavy touch, it is determined that the driver lightly touches the steering wheel with one hand. If the corrected second sensor signal exceeds the second detection threshold corresponding to heavy touch but does not exceed the third detection threshold corresponding to light grip with both hands, it is determined that the driver has heavy touch on the steering wheel; if the corrected second sensor signal exceeds the third detection threshold corresponding to light grip with both hands but does not exceed the fourth detection threshold corresponding to grip with both hands, it is determined that the driver has light grip on the steering wheel with both hands. If the corrected second sensor signal exceeds the fourth detection threshold corresponding to two-hand grip, it is determined that the driver is gripping the steering wheel with both hands.

9. A vehicle control system, characterized in that, The vehicle controller and the steering wheel contact detection system according to any one of claims 1 to 8, wherein, The vehicle controller is connected to the controller included in the contact detection system and is used to control the vehicle based on the touch state of the steering wheel determined by the controller included in the contact detection system.

10. A contact detection method for a steering wheel, comprising: The method collects a first sensing signal from a seat sensor installed on the driver's seat and a second sensing signal from a steering wheel sensor installed on the steering wheel, and determines the driver's touch state on the steering wheel based on whether the second sensing signal exceeds a preset detection threshold; the method is characterized in that the contact detection method further includes: Based on the change in the first sensing signal, the second sensing signal or the detection threshold is adjusted in real time to determine the touch state.

11. A vehicle, characterized in that, include: The contact detection system for the steering wheel as described in any one of claims 1 to 8, or the vehicle control system as described in claim 9.

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