Steering wheel hand leaving detection method, controller and storage medium

Abstract

The invention provides a steering wheel hand-leaving detection method, a controller and a storage medium, which are applied to the controller in a hand-leaving detection system, and the method comprises the following steps: obtaining a touch sensing value, and calculating a difference value between the touch sensing value and a baseline value; the baseline value is related to the environment state and an initial mode when the hand-leaving detection system is started, the touch sensing value is used for representing the influence of a hand or a foreign matter on a sensing layer in the steering wheel diaphragm, the current mode of the hand-leaving detection system is judged according to the difference value, and the acquired touch sensing value is compared with the baseline value, so that the hand-leaving detection system is started. The hand-leaving state is judged based on the difference value, and the baseline value can be dynamically adjusted according to the environment, so that the accuracy of the calculated difference value can be improved, and the accuracy of a hand-leaving detection result is improved.

Description

Technical Field

[0001] This application relates to the field of steering wheel hands-off detection, and more particularly to a steering wheel hands-off detection method, controller, and storage medium. Background Technology

[0002] As cars become increasingly intelligent and connected, drivers' demands are no longer limited to performance and power parameters. Intelligent and practical automotive electronic assistance systems bring drivers novel driving experiences.

[0003] Steering wheel off-hand status is a crucial component of driving behavior and serves as an important basis for judging driving safety and intelligent driver assistance functions. Accurately identifying steering wheel off-hand status can provide drivers with more satisfactory electronic assistance functions. Current steering wheel off-hand detection methods mostly use pressure or torque signals as the basis for judgment.

[0004] The pressure or torque signals in the above methods are easily affected by interference, resulting in low reliability of the detection results. Summary of the Invention

[0005] This invention provides a steering wheel off-hand detection method, controller, and storage medium. The method compares the acquired touch sensing value with a baseline value and determines the off-hand state based on the difference. The baseline value can be dynamically adjusted according to the environment, which can improve the accuracy of the calculated difference and thus improve the accuracy of the off-hand detection result.

[0006] In a first aspect, the present invention provides a steering wheel hands-off detection method, applied to a controller in a hands-off detection system, the method comprising:

[0007] The system acquires touch sensor values ​​and calculates the difference between the touch sensor values ​​and a baseline value. The baseline value is related to the environmental conditions and the initial mode in which the hands-off detection system is activated. The touch sensor values ​​are used to represent the effect of a hand or foreign object on the sensor layer in the steering wheel diaphragm.

[0008] The current mode of the hand-off detection system is determined based on the difference.

[0009] Optionally, the method also includes:

[0010] The updated baseline value is determined based on the difference; the updated baseline value is used to determine the mode of the off-hand detection system in the next test.

[0011] Optionally, the method also includes:

[0012] Determine the initial mode when the off-hand detection system is activated;

[0013] Accordingly, the updated baseline value is determined based on the difference, including:

[0014] The updated baseline value is determined based on the first correction factor and the difference corresponding to the initial model.

[0015] Optionally, based on the first correction coefficient and the difference corresponding to the initial model, the updated baseline value is determined, including:

[0016] Determine the interval corresponding to the difference, and determine the interval update ratio based on the interval;

[0017] The updated baseline value is determined based on the first correction factor, the interval update ratio, the difference, and the current baseline value.

[0018] Optionally, the updated baseline value is determined based on the first correction factor, the interval update ratio, the difference, and the current baseline value, including:

[0019] Multiply the first correction factor, the interval update ratio, and the difference to obtain the baseline adjustment;

[0020] The baseline adjustment is added to the current baseline value to obtain the updated baseline value.

[0021] Optionally, the off-hand detection system includes a touch sensor, which comprises a control module, a touch sensing module, and an interference shielding module; determining the initial mode of the off-hand detection system when it is activated includes:

[0022] Send first setting parameters for the touch sensing module and the interference shielding module to the control module so that the touch sensing module and the interference shielding module operate under the first setting parameters;

[0023] The touch sensor is controlled to enter the mode sensing state. In the mode sensing state, the initial mode is determined based on the relationship between the acquired touch sensing value and the calibration range.

[0024] The initial modes include: out of hand, foreign object out of hand, foreign object in hand, and in hand.

[0025] Optionally, the current mode of the off-hand detection system can be determined based on the difference, including:

[0026] The target decision threshold is determined based on the second correction coefficient corresponding to the initial model and the preset decision threshold.

[0027] If the difference is greater than the target decision threshold, the current mode is determined to be the opposite of the initial mode.

[0028] Optionally, the off-hand detection system includes a touch sensor, which comprises a control module, a touch sensing module, and an interference shielding module; acquiring touch sensing values ​​includes:

[0029] Send second setting parameters for the touch sensing module and the interference shielding module to the control module; the second setting parameters are related to the initial mode;

[0030] Control the touch sensor to enter normal sensing state, and in normal sensing state, acquire touch sensing values.

[0031] Optionally, the hands-off detection system includes a touch sensor and a steering wheel diaphragm. The touch sensor includes a control module, a touch sensing module, and an interference shielding module. The interference shielding module is connected to the shielding layer of the steering wheel diaphragm, and the touch sensing module of the touch sensor is connected to the sensing layer of the steering wheel diaphragm. The touch sensing module is used to generate an induced voltage signal.

[0032] The interference shielding module is used to: replicate induced voltage information, generate a shielding voltage signal based on the induced voltage signal and shielding parameters, and apply the shielding voltage signal to the shielding layer.

[0033] Secondly, the present invention provides a steering wheel off-hand detection method, applied to a control module in a touch sensor, the method comprising:

[0034] Receive the first or second setting parameters sent by the controller in the off-hand detection system;

[0035] Configure the touch sensing module and interference shielding module in the touch sensor according to the first setting parameter or the second setting parameter;

[0036] Obtain the touch sensing value and send it to the controller.

[0037] Thirdly, the present invention provides a controller, comprising: at least one processor and a memory;

[0038] The memory stores the instructions that the computer executes;

[0039] At least one processor executes computer execution instructions stored in memory, causing at least one processor to perform the method as described in either the first aspect or the second aspect.

[0040] Thirdly, the present invention provides a steering wheel hands-off detection system, comprising: a controller, a steering wheel diaphragm, a touch sensor, and a steering wheel body; the steering wheel diaphragm is installed in the steering wheel body;

[0041] The touch sensor includes a control module, a touch sensing module, and an interference shielding module; the interference shielding module is connected to the shielding layer of the steering wheel diaphragm, and the touch sensing module is connected to the sensing layer of the steering wheel diaphragm.

[0042] The touch sensing module is used to generate induced voltage signals;

[0043] The interference shielding module is used to: replicate induced voltage information, generate a shielding voltage signal based on the induced voltage signal and shielding parameters, and apply the shielding voltage signal to the shielding layer.

[0044] Fourthly, the present invention provides an electric vehicle, comprising: a controller as described in the second aspect, or a steering wheel off-hand detection system as described in the third aspect.

[0045] Fifthly, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method of any one of the first aspects.

[0046] In a sixth aspect, the present invention provides a computer program product comprising a computer program that, when executed by a processor, implements the method as described in any of the first aspects.

[0047] The present invention provides a steering wheel hands-off detection method, controller, and storage medium, which are applied to the controller in a hands-off detection system. The method includes: acquiring touch sensing values; calculating the difference between the touch sensing values ​​and a baseline value; the baseline value is related to the environmental state and the initial mode in which the hands-off detection system is activated; the touch sensing values ​​are used to represent the influence of a hand or foreign object on the sensing layer in the steering wheel diaphragm; determining the current mode of the hands-off detection system based on the difference; and determining the hands-off state based on the difference by comparing the acquired touch sensing values ​​with the baseline value. The baseline value can be dynamically adjusted according to the environment, which can improve the accuracy of the calculated difference, thereby improving the accuracy of the hands-off detection result. Attached Figure Description

[0048] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0049] Figure 1 A schematic flowchart of a steering wheel hands-off detection method provided in an embodiment of the present invention;

[0050] Figure 2 This is a schematic diagram of a steering wheel hands-off detection system provided in an embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of the structure of a steering wheel body provided in an embodiment of the present invention;

[0052] Figure 4 A flowchart illustrating another method for detecting when a steering wheel is removed from hands, provided in an embodiment of the present invention;

[0053] Figure 5 This is a schematic diagram illustrating the operation of a touch sensor according to an embodiment of the present invention;

[0054] Figure 6 A schematic diagram of a process for calibrating interference shielding parameters of a touch sensor provided in an embodiment of the present invention;

[0055] Figure 7 A flowchart illustrating another method for detecting when a steering wheel is removed from hands, provided in an embodiment of the present invention;

[0056] Figure 8 This is a flowchart illustrating the process of detecting when the steering wheel is removed from the hands in a touch sensor, as provided in an embodiment of the present invention.

[0057] Figure 9 This is a schematic diagram of a steering wheel hands-off detection device provided in an embodiment of the present invention;

[0058] Figure 10 This is a schematic diagram of another steering wheel hands-off detection device provided in an embodiment of the present invention;

[0059] Figure 11 This is a schematic diagram of the hardware structure of a controller provided in an embodiment of the present invention.

[0060] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0061] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0062] In this document, it should be understood that the terminology used is for convenience of understanding only and does not imply any limitation on its meaning. Furthermore, any number of elements in the accompanying drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning.

[0063] In some related technologies, pressure or torque signals are often used as the basis for determining whether the sensor is released from its grip. This method requires high sensor accuracy, and the signal processing is relatively complex, resulting in less than ideal detection costs and reliability of results.

[0064] To address the aforementioned issues, this application addresses the problem by setting a sensing layer on the steering wheel, acquiring touch sensing values ​​based on touch sensors, comparing the acquired touch sensing values ​​with a baseline value, and determining the hand-off state based on the difference. The baseline value can be dynamically adjusted according to the environment, which can improve the accuracy of the calculated difference. This approach aims to improve the accuracy of hand-off detection results while reducing detection costs.

[0065] Figure 1 This is a flowchart illustrating a method for detecting when a steering wheel is removed from its hands, as provided in an embodiment of the present invention; Figure 1 As shown, the method includes:

[0066] Step S101: Obtain the touch sensing value and calculate the difference between the touch sensing value and the baseline value; the baseline value is related to the environmental state and the initial mode when the hands-off detection system is turned on; the touch sensing value is used to represent the effect of a hand or foreign object on the sensing layer in the steering wheel diaphragm.

[0067] Figure 2 This is a schematic diagram of a steering wheel hands-off detection system provided in an embodiment of the present invention. The hands-off detection system includes a controller, a touch sensor, a steering wheel diaphragm, and a steering wheel body. The controller is connected to the touch sensor via a board-level communication circuit, and the steering wheel diaphragm is connected to the touch sensor. The steering wheel diaphragm is installed in the steering wheel body by a fixing device.

[0068] The steering wheel diaphragm is connected to the touch sensor via wires and is fixed inside the steering wheel body in a specific manner. The diaphragm consists of three layers: a shielding layer, an insulating layer, and a sensing layer. The sensing layer, located on the side of the steering wheel body closest to the outer surface, is responsible for detecting hand contact. During touch detection, a induced voltage signal is applied to the sensing layer. The amplitude of this voltage signal is affected to varying degrees depending on the hand's position, thus influencing the obtained touch sensitivity value.

[0069] Figure 3 This is a schematic diagram of the structure of a steering wheel body provided in an embodiment of the present invention. The steering wheel body has a multi-layer structure from the inside out. Its center is the steering wheel skeleton, the outer side of the skeleton is a foam for filling, and the outer side of the foam is, in sequence, a shielding layer, an insulating layer, and a sensing layer of the steering wheel diaphragm, and the outermost layer is a leather layer.

[0070] Optionally, the sensing layer and shielding layer are sheet-like structures made of a conductive material, enabling the transmission of electrical signals. The insulating layer primarily isolates the sensing layer and shielding layer while also providing some support. The sensing layer and shielding layer should be similar in size, while the insulating layer is slightly larger than both. Wires extend from the sensing layer and shielding layer to connect to the touch sensor, enabling the transmission of sensing and shielding signals.

[0071] The controller (which can be a microcontroller unit, MCU) interacts with the touch sensor via board-level communication circuitry to obtain the touch sensitivity values ​​of a hand or foreign object on the steering wheel diaphragm. Optionally, the communication between the controller and the touch sensor can be a digital communication method with verification function to improve the anti-interference performance of the communication process and enhance system stability.

[0072] Optionally, after the off-hand detection system is started, the controller continuously executes the detection cycle.

[0073] After the controller obtains the touch sensing value, it can filter the touch sensing value to eliminate abnormal data under electromagnetic interference and avoid affecting the hand-off detection judgment.

[0074] The controller calculates the difference between the touch-sensitive value and the baseline value, and determines the steering wheel's off-hand status based on the difference.

[0075] Touch sensitivity is an electrical signal parameter whose magnitude directly reflects the degree of capacitive coupling effect produced by the driver's palm or foreign objects (such as gloves or towels) covering the steering wheel on the sensing layer in the steering wheel diaphragm. When a hand or foreign object touches or approaches the sensing layer, it changes the electric field distribution of the sensing layer, thereby causing a corresponding change in the touch sensitivity value.

[0076] The controller calculates the difference between the touch-sensitive value and a dynamically maintained baseline value. This baseline value is not a fixed constant but an adaptive reference value. The baseline value is mainly affected by two factors: first, environmental conditions, such as sensor characteristic drift caused by changes in ambient temperature and humidity; and second, the initial mode identified by the hands-free detection system upon initial power-on or startup, such as "in hand," "foreign object in hand," "foreign object removed," or "removed from hand" mode.

[0077] Optional: "Without Hand" means no object is in contact with the steering wheel; "Foreign Object With Hand" means there is a foreign object in contact with the steering wheel, but it is not the hand; "Foreign Object in Hand" means the hand touches the steering wheel through another object, such as a glove; "In Hand" means the hand touches the steering wheel directly.

[0078] Step S102: Determine the current mode of the off-hand detection system based on the difference.

[0079] Optionally, the current mode of the off-hand detection system can be determined based on the calculated difference. Optionally, decision thresholds can be set for different modes, and the difference can be compared with the decision thresholds to determine the current mode.

[0080] Optionally, the baseline value can represent a reference level for the hand-off detection system when there is "no significant new contact or removal action" under specific environmental conditions and initial modes. Correspondingly, the magnitude of the difference directly reflects the degree of change in the current hand or foreign object state relative to this reference level. Therefore, the current state can be determined based on the difference.

[0081] For example, if the initial mode is out of hand, and if the decision threshold corresponding to this mode is 800, and if the calculated difference is greater than 800, then it can be determined that the current mode is the opposite of the initial mode, and the current mode is in hand.

[0082] Optionally, the controller can use domain communication methods, such as CAN (Controller Area Network), to report the off-hand detection result, i.e. the determined current mode, to a higher-level controller, such as the intelligent driving controller, to assist the higher-level controller in making decisions.

[0083] The above-mentioned off-hand detection algorithm has low complexity, is simple to process, and has lower requirements for computational performance.

[0084] The present invention provides a steering wheel hands-off detection method, applied to a controller in a hands-off detection system. The method includes: acquiring touch sensing values; calculating the difference between the touch sensing values ​​and a baseline value; the baseline value is related to the environmental state and the initial mode in which the hands-off detection system is activated; the touch sensing values ​​are used to represent the influence of a hand or foreign object on the sensing layer in the steering wheel diaphragm; determining the current mode of the hands-off detection system based on the difference; and determining the hands-off state based on the difference by comparing the acquired touch sensing values ​​with the baseline value. The baseline value can be dynamically adjusted according to the environment, which can improve the accuracy of the calculated difference, thereby improving the accuracy of the hands-off detection result.

[0085] Optionally, the method also includes:

[0086] The updated baseline value is determined based on the difference; the updated baseline value is used to determine the mode of the off-hand detection system in the next test.

[0087] After each difference is calculated, the current pattern can be determined, and the baseline value can also be updated.

[0088] By updating the baseline value, it can be made to adaptively track slow changes in the environment, thereby ensuring the accuracy of subsequent pattern judgments.

[0089] For example, as the ambient temperature gradually increases, the overall touch sensitivity value will increase slowly, and the baseline update will cause the baseline value to increase slowly in sync. Therefore, even if the touch sensitivity value is increasing, as long as the hand is not touching the steering wheel (no event occurs), the difference between the calculated touch sensitivity value and the baseline value will remain within a very small range and will not show a continuous increasing trend.

[0090] By updating the baseline value, the calculated difference can accurately reflect the operational status, thereby improving the accuracy of detection.

[0091] Optionally, the method also includes:

[0092] Determine the initial mode when the off-hand detection system is activated;

[0093] Accordingly, the updated baseline value is determined based on the difference, including:

[0094] The updated baseline value is determined based on the first correction factor and the difference corresponding to the initial model.

[0095] When the hands-off detection system is activated, an initial mode should be determined first. This is because the status of the hands on the steering wheel is uncertain when the system is activated. Whether the hands are on the steering wheel, not on the steering wheel, or whether there is a foreign object on the steering wheel will significantly affect the subsequent judgment process. In addition, the initial mode will also affect the updating of the baseline value.

[0096] Optionally, the baseline update intensity can be adjusted based on the first correction coefficient corresponding to the initial model. The first correction coefficient is a weight parameter corresponding to the initial model, and its value is calibrated separately for each initial model during the experimental phase.

[0097] For example, when the initial mode is "in hand", a relatively large first correction factor can be set (e.g., 0.1); when the initial mode is "out of hand", a relatively small first correction factor can be set (e.g., 0.02).

[0098] Once the first correction factor is determined, the updated baseline value can be calculated based on the first correction factor and the difference. A first correction factor is used for each of the four modes when updating the baseline value to ensure that the baseline value is updated appropriately according to the environment under different modes.

[0099] By using the above method, different first correction coefficients can be set under different initial modes, so that the baseline value can be updated accurately, fundamentally ensuring the long-term accuracy and reliability of off-hand detection under different initial conditions.

[0100] Optionally, based on the first correction coefficient and the difference corresponding to the initial model, the updated baseline value is determined, including:

[0101] Determine the interval corresponding to the difference, and determine the interval update ratio based on the interval;

[0102] The updated baseline value is determined based on the first correction factor, the interval update ratio, the difference, and the current baseline value.

[0103] When determining the updated baseline value, the space of the difference can be divided into multiple intervals, each with an interval update ratio. This value is determined through experience or experimental debugging and generally remains unchanged. When the difference falls within this interval, the corresponding interval update ratio can be determined, thus allowing the calculation of the updated baseline value.

[0104] For example, the intervals can be 0-100 or 100-800. When the difference is in the 0-100 interval, the interval update ratio is 1. When the difference is in the 100-800 interval, the interval update ratio is 2.

[0105] The above method enables the baseline value to be dynamically adjusted according to environmental changes, ensuring the accuracy of off-hand detection results.

[0106] Optionally, the updated baseline value is determined based on the first correction factor, the interval update ratio, the difference, and the current baseline value, including:

[0107] Multiply the first correction factor, the interval update ratio, and the difference to obtain the baseline adjustment;

[0108] The baseline adjustment is added to the current baseline value to obtain the updated baseline value.

[0109] Optionally, multiplying the three values ​​yields a smartly adjusted change used to update the baseline, known as the baseline adjustment. This calculated baseline adjustment is then applied cumulatively to the current baseline value to obtain the updated baseline value. Specifically, if the baseline adjustment is positive, the updated baseline value will be increased by the corresponding amount; if it is negative, it will be decreased.

[0110] Optionally, the off-hand detection system includes a touch sensor, which comprises a control module, a touch sensing module, and an interference shielding module; determining the initial mode of the off-hand detection system when it is activated includes:

[0111] Send first setting parameters for the touch sensing module and the interference shielding module to the control module so that the touch sensing module and the interference shielding module operate under the first setting parameters;

[0112] The touch sensor is controlled to enter the mode sensing state. In the mode sensing state, the initial mode is determined based on the relationship between the acquired touch sensing value and the calibration range.

[0113] The initial modes include: out of hand, foreign object out of hand, foreign object in hand, and in hand.

[0114] Optionally, the touch sensor includes a control module, a touch sensing module, an interference shielding module, and other modules for program storage, processing, and communication. The interference shielding module of the touch sensor is connected to the shielding layer of the steering wheel diaphragm via wires, and the touch sensing module of the touch sensor is connected to the sensing layer of the steering wheel diaphragm via wires. The interference shielding module can effectively shield against external interference.

[0115] After the off-hand detection system is started, the initial mode can be determined first. The steps are as follows:

[0116] The controller sends the first setting parameters of the touch sensing module and the interference shielding module through the board-level communication circuit, controlling the touch sensor to configure the corresponding modules so that the touch sensing module and the interference shielding module operate under the corresponding first setting parameters. Optionally, the first setting parameters are determined under the experimental scenario, and this value is related to the subsequent calibration range to improve the accuracy of the determined initial mode.

[0117] The controller controls the touch sensor to enter a pattern sensing state for multiple rounds of detection.

[0118] The controller receives the touch sensing value sent by the control module in the touch sensor. By comparing the touch sensing value with the size of the calibration range in the four modes of hand removal, foreign object removal, foreign object in hand, and hand, if the touch sensing value is within the calibration range corresponding to a certain mode, the initial mode is considered to be that mode.

[0119] The controller provides a judgment result, determining which of the four modes the foreign object detection system is in: out of hand, foreign object out of hand, foreign object in hand, or in hand.

[0120] Optionally, the current mode of the off-hand detection system can be determined based on the difference, including:

[0121] The target decision threshold is determined based on the second correction coefficient corresponding to the initial model and the preset decision threshold.

[0122] If the difference is greater than the target decision threshold, the current mode is determined to be the opposite of the initial mode.

[0123] Optionally, when determining the current mode, a target decision threshold can be determined first. The target decision threshold is related to the initial mode to ensure that the correct off-hand state judgment can be achieved under different modes.

[0124] Optionally, a second correction coefficient can be determined based on the initial mode, and the target decision threshold corresponding to the initial mode can be determined based on the second correction coefficient and the preset decision threshold.

[0125] When the difference is greater than the target decision threshold, it indicates that the current mode is the opposite of the initial mode. Specifically, if the initial mode is "out of hand" or "foreign object out of hand", the opposite indicates that the current mode is "in hand"; if the initial mode is "in hand" or "foreign object in hand", the opposite indicates that the current mode is "out of hand".

[0126] When the difference is less than or equal to the target decision threshold, it means that the current pattern is the same as the initial pattern.

[0127] By determining the target decision value based on the initial pattern, the current pattern can be accurately determined.

[0128] Optionally, the off-hand detection system includes a touch sensor, which comprises a control module, a touch sensing module, and an interference shielding module; acquiring touch sensing values ​​includes:

[0129] Send second setting parameters for the touch sensing module and the interference shielding module to the control module; the second setting parameters are related to the initial mode;

[0130] Control the touch sensor to enter normal sensing state, and in normal sensing state, acquire touch sensing values.

[0131] During the process of determining the current mode, when acquiring touch sensing values, a second setting parameter for the touch sensing module and the interference shielding module can be sent to the control module. The second setting parameter is related to the initial mode so that the touch sensing module and the interference shielding module operate under appropriate parameters, thereby improving the accuracy of the acquired touch sensing values.

[0132] In addition, the touch sensor can be controlled to enter a normal sensing state, so that subsequent steps such as baseline update of the acquired touch sensing values ​​and determination of the current mode can be performed.

[0133] Optionally, after acquiring the touch sensing value, the controller can process the touch sensing value through window filtering or smoothing filtering to reduce the impact of external interference on the touch sensing value.

[0134] By controlling the touch sensing module and the interference shielding module to operate under the second set parameters, the obtained touch sensing values ​​can be made accurate.

[0135] Figure 4 This is a flowchart illustrating another steering wheel hands-off detection method provided in an embodiment of the present invention. Applied to a controller, it includes the following steps:

[0136] Step S401: Control parameters for the touch sensing module and interference shielding module are sent through the board-level communication circuit to control the touch sensor to configure the corresponding modules.

[0137] Step S402: Control the touch sensor to enter mode sensing and perform multiple rounds of detection.

[0138] Step S403: Obtain the touch sensing value. By comparing the touch sensing value with the size of the calibration range of the four modes (removed from hand, foreign object removed from hand, foreign object in hand, and in hand), if the touch sensing value is within the range of a certain mode calibration range, then the initial mode is considered to be that mode.

[0139] Step S404: Provide the judgment result, determining which of the four modes the foreign object detection system is in: out of hand, foreign object out of hand, foreign object in hand, or in hand.

[0140] Step S405: Send the initial mode and corresponding control commands to the touch sensor to control it to enter the normal sensing mode.

[0141] Step S406: The touch sensing value collected by the communication receiving sensor is processed by window filtering or smoothing filtering to reduce the influence of external interference on the touch sensing value.

[0142] Step S407: Calculate the difference between the processed touch sensing value and the baseline value based on the processed touch sensing value. Update the baseline value according to the range of the difference, using the pattern correction coefficient 1 * range update ratio * difference value.

[0143] Step S408: By comparing the difference with the decision threshold * pattern correction coefficient 2, the current off-hand detection result is given. If the difference is large, the current pattern is considered to be the opposite of the initial pattern.

[0144] Then, depending on the application's functional requirements, it is decided whether to continue the detection process. If so, steps S406~S408 are repeated. If not, the controller sends a control command to put the touch sensor into standby mode, and the controller exits the off-hand detection function.

[0145] The corresponding model calibration range, model correction coefficient 1, model correction coefficient 2, decision threshold, and other coefficients mentioned in this step all need to be calibrated and confirmed under experimental conditions and actual working conditions to ensure the normal off-hand detection function. The values ​​of the above parameters are not specifically limited.

[0146] Figure 5 This is a schematic diagram of the operation of a touch sensor according to an embodiment of the present invention. The touch sensor operates under the control of a controller and includes a standby state, a mode sensing state, and a normal sensing state, so as to determine the corresponding state according to the control command sent by the controller.

[0147] After the touch sensor is activated, it will receive control commands from the controller and select to enter different working states according to the control commands.

[0148] Upon receiving a standby command, the touch sensor enters standby mode. In this mode, the touch sensor does not perform touch detection, and the internal touch sensing module and interference shielding module are not activated, but communication with the controller is maintained.

[0149] Upon receiving a command indicating a mode sensing state or normal sensing state, the touch sensor enters sensing mode. In this state, the touch sensor activates its internal touch sensing module and interference shielding module to maintain communication with the controller.

[0150] Optionally, the controller may selectively enable the touch sensor's sensing function (such as mode sensing state or normal sensing state) according to the needs of the application function or the command requirements of the upper controller, and obtain the touch sensing value sent by the touch sensor through the board-level communication circuit.

[0151] Optionally, the hands-off detection system includes a touch sensor and a steering wheel diaphragm. The touch sensor includes a control module, a touch sensing module, and an interference shielding module. The interference shielding module is connected to the shielding layer of the steering wheel diaphragm, and the touch sensing module of the touch sensor is connected to the sensing layer of the steering wheel diaphragm. The touch sensing module is used to generate an induced voltage signal.

[0152] The interference shielding module is used to: replicate induced voltage information, generate a shielding voltage signal based on the induced voltage signal and shielding parameters, and apply the shielding voltage signal to the shielding layer.

[0153] The touch sensor is controlled by the controller via communication and is connected to the sensing layer and shielding layer of the steering wheel diaphragm via wires.

[0154] The interference shielding module used in the touch sensor can adjust the amplitude of the generated shielding voltage through shielding parameters, thereby adjusting the shielding effect against interference signals. When the touch sensing module is operating, the interference shielding module replicates the sensed voltage signal according to the shielding parameters and generates a shielding voltage signal with adjustable amplitude. This shielding voltage signal is applied to the steering wheel shielding layer through wires, shielding interference signals from the steering wheel frame and preventing interference to the touch sensing process.

[0155] In other words, the replicated induced voltage signal can be amplified or reduced by a certain ratio through configuration. By adjusting the shielding parameters, the amplitude of the shielding voltage signal of the interference shielding module can be adjusted to adapt to different circuit designs and application environments, thereby improving the system's anti-interference capability.

[0156] Optionally, when the steering wheel or surrounding devices are defined, the resulting interference is defined, and the shielding parameter is a fixed value. Different shielding parameters can be set for different scenarios.

[0157] Optionally, the interference shielding module remains operational throughout the measurement process. Therefore, a single touch scan is sufficient to complete one round of off-hand detection, without needing to switch the interference shielding module's status. This allows for increased off-hand detection speed and improved accuracy.

[0158] Interference shielding parameters need to be calibrated in advance through experimental testing. The calibrated interference shielding parameters are generally stored in the touch sensor's memory through firmware, and the touch sensor can directly retrieve and use them.

[0159] Figure 6 This is a schematic flowchart illustrating the calibration of interference shielding parameters for a touch sensor, as provided in an embodiment of the present invention. The experimental calibration steps for the interference shielding parameters are as follows:

[0160] Step S601: Update the selected interference shielding parameters into the touch sensor's storage and perform an experimental injection of interference signals.

[0161] Step S602: Record the touch sensing data under interference environment, including the effective signal strength of the touch, the noise level during the process, and the false triggering situation. After comprehensive consideration, obtain the interference shielding effect of the current parameters.

[0162] Step S603: By comparing the shielding effects of the interference, the optimal interference shielding parameters are selected.

[0163] Figure 7 This is a flowchart illustrating another steering wheel hands-off detection method provided in an embodiment of the present invention, applied to a control module in a touch sensor. The method includes:

[0164] Step S701: Receive the first setting parameter or the second setting parameter sent by the controller in the off-hand detection system.

[0165] Step S702: Configure the touch sensing module and interference shielding module in the touch sensor according to the first setting parameter or the second setting parameter.

[0166] Step S703: Obtain the touch sensing value and send the touch sensing value to the controller.

[0167] Upon receiving the first or second setting parameter, the touch sensing module and interference shielding module are configured, and detection is enabled.

[0168] Optionally, the touch sensor can also receive the initial mode sent by the controller. The touch sensor can adjust some of the setting parameters of the touch sensing module according to the initial mode to ensure that the touch sensing value can be kept within a reasonable range in different modes, and that there is sufficient room for change in touch sensing value after the palm touches or leaves.

[0169] After the parameters are adjusted, the touch sensing module begins touch sensing, and its parameters remain unchanged during this process. Each time a touch sensing operation is completed, the touch sensor uploads a touch sensing value to the controller.

[0170] Figure 8 A flowchart illustrating the process of detecting when the steering wheel is removed from the hands in a touch sensor, as provided in an embodiment of the present invention, includes the following steps:

[0171] In step S801, the touch sensor receives the setting parameters of the touch sensing module and the interference shielding module from the controller.

[0172] In step S802, the touch sensor sets the touch sensing module and interference shielding module according to the parameters, and then turns on the touch sensing.

[0173] In step S803, the touch sensor obtains the touch sensing value and reports the data to the controller.

[0174] Step S804: Repeat steps S802 and S803 a certain number of times.

[0175] Figure 9 This is a schematic diagram of a steering wheel hands-off detection device provided in an embodiment of the present invention. The device is applied to a controller in a hands-off detection system and includes:

[0176] The processing module 901 is used to acquire touch sensing values ​​and calculate the difference between touch sensing values ​​and baseline values; the baseline value is related to the environmental state and the initial mode when the hands-off detection system is turned on; the touch sensing value is used to represent the effect of a hand or foreign object on the sensing layer in the steering wheel diaphragm.

[0177] The judgment module 902 is used to determine the current mode of the off-hand detection system based on the difference.

[0178] Optionally, the device may also include: an update module for:

[0179] The updated baseline value is determined based on the difference; the updated baseline value is used to determine the mode of the off-hand detection system in the next test.

[0180] Optionally, the device further includes: an initial mode detection module, used for:

[0181] Determine the initial mode when the off-hand detection system is activated;

[0182] Accordingly, when determining the updated baseline value based on the difference, the update module is specifically used for:

[0183] The updated baseline value is determined based on the first correction factor and the difference corresponding to the initial model.

[0184] Optionally, when determining the updated baseline value based on the first correction coefficient and the difference corresponding to the initial mode, the update module is specifically used for:

[0185] Determine the interval corresponding to the difference, and determine the interval update ratio based on the interval;

[0186] The updated baseline value is determined based on the first correction factor, the interval update ratio, the difference, and the current baseline value.

[0187] Optionally, when the update module determines the updated baseline value based on the first correction coefficient, the interval update ratio, the difference, and the current baseline value, it is specifically used for:

[0188] Multiply the first correction factor, the interval update ratio, and the difference to obtain the baseline adjustment;

[0189] The baseline adjustment is added to the current baseline value to obtain the updated baseline value.

[0190] Optionally, the hands-free detection system includes a touch sensor, which comprises a control module, a touch sensing module, and an interference shielding module; the initial mode detection module, when determining the initial mode of the hands-free detection system upon activation, is specifically used for:

[0191] Send first setting parameters for the touch sensing module and the interference shielding module to the control module so that the touch sensing module and the interference shielding module operate under the first setting parameters;

[0192] The touch sensor is controlled to enter the mode sensing state. In the mode sensing state, the initial mode is determined based on the relationship between the acquired touch sensing value and the calibration range.

[0193] The initial modes include: out of hand, foreign object out of hand, foreign object in hand, and in hand.

[0194] Optionally, when determining the current mode of the hand-off detection system based on the difference, the judgment module 902 is specifically used for:

[0195] The target decision threshold is determined based on the second correction coefficient corresponding to the initial model and the preset decision threshold.

[0196] If the difference is greater than the target decision threshold, the current mode is determined to be the opposite of the initial mode.

[0197] Optionally, the off-hand detection system includes a touch sensor, which comprises a control module, a touch sensing module, and an interference shielding module; the processing module 901, when acquiring the touch sensing value, is specifically used for:

[0198] Send second setting parameters for the touch sensing module and the interference shielding module to the control module; the second setting parameters are related to the initial mode;

[0199] Control the touch sensor to enter normal sensing state, and in normal sensing state, acquire touch sensing values.

[0200] Optionally, the hands-off detection system includes a touch sensor and a steering wheel diaphragm. The touch sensor includes a control module, a touch sensing module, and an interference shielding module. The interference shielding module is connected to the shielding layer of the steering wheel diaphragm, and the touch sensing module of the touch sensor is connected to the sensing layer of the steering wheel diaphragm. The touch sensing module is used to generate an induced voltage signal.

[0201] The interference shielding module is used to: replicate induced voltage information, generate a shielding voltage signal based on the induced voltage signal and shielding parameters, and apply the shielding voltage signal to the shielding layer.

[0202] The steering wheel hands-off detection device provided in this embodiment of the invention can achieve the above-mentioned... Figure 1 The steering wheel off-hand detection method in the illustrated embodiment has a similar implementation principle and technical effect, and will not be described in detail here.

[0203] Figure 10 This is a schematic diagram of another steering wheel hands-off detection device provided in an embodiment of the present invention, applied to a control module in a touch sensor. The device includes:

[0204] The receiving module 1001 is used to receive the first setting parameter or the second setting parameter sent by the controller in the off-hand detection system;

[0205] Setting module 1002 is used to set the touch sensing module and interference shielding module in the touch sensor according to the first setting parameter or the second setting parameter;

[0206] The acquisition module 1003 is used to acquire touch sensing values ​​and send them to the controller.

[0207] The steering wheel hands-off detection device provided in this embodiment of the invention can achieve the above-mentioned... Figure 7 The steering wheel off-hand detection method in the illustrated embodiment has a similar implementation principle and technical effect, and will not be described in detail here.

[0208] Figure 11 A schematic diagram of the hardware structure of a controller provided in an embodiment of the present invention is shown below. Figure 11 As shown, the present invention provides a controller, including at least one processor 1101 and a memory 1102. The processor 1101 and the memory 1102 are connected via a bus 1103.

[0209] In the specific implementation process, memory 1102 stores computer-executed instructions;

[0210] At least one processor 1101 executes computer execution instructions stored in memory 1102, causing at least one processor 1101 to perform the method in the above method embodiment.

[0211] The specific implementation process of processor 1101 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0212] In the above Figure 11 In the illustrated embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0213] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0214] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0215] This invention also provides a steering wheel hands-off detection system, comprising: a controller, a steering wheel diaphragm, a touch sensor, and a steering wheel body; the steering wheel diaphragm is installed in the steering wheel body;

[0216] The touch sensor includes a control module, a touch sensing module, and an interference shielding module; the interference shielding module is connected to the shielding layer of the steering wheel diaphragm, and the touch sensing module is connected to the sensing layer of the steering wheel diaphragm.

[0217] The touch sensing module is used to generate induced voltage signals;

[0218] The interference shielding module is used to: replicate induced voltage information, generate a shielding voltage signal based on the induced voltage signal and shielding parameters, and apply the shielding voltage signal to the shielding layer.

[0219] This invention also provides an electric vehicle, including the controller of the foregoing embodiment, or the steering wheel off-hand detection system of the foregoing embodiment.

[0220] This invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the above embodiments.

[0221] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the above method embodiments.

[0222] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0223] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0224] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0225] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0226] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods of the various embodiments of this application.

[0227] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A method for detecting when a steering wheel is removed from the hands, characterized in that, A controller applied to a hands-off detection system, the method comprising: The touch sensing value is acquired, and the difference between the touch sensing value and the baseline value is calculated. The baseline value is related to the environmental state and the initial mode in which the hand-off detection system is activated. The touch sensing value is used to represent the effect of a hand or foreign object on the sensing layer in the steering wheel diaphragm. The current mode of the off-hand detection system is determined based on the difference.

2. The method according to claim 1, characterized in that, The method further includes: The updated baseline value is determined based on the difference; the updated baseline value is used to determine the mode of the off-hand detection system in the next step.

3. The method according to claim 2, characterized in that, The method further includes: Determine the initial mode of the off-hand detection system when it is activated; Accordingly, determining the updated baseline value based on the difference includes: The updated baseline value is determined based on the first correction coefficient corresponding to the initial mode and the difference.

4. The method according to claim 3, characterized in that, Based on the first correction coefficient corresponding to the initial mode and the difference, the updated baseline value is determined, including: Determine the interval corresponding to the difference, and determine the interval update ratio based on the interval; The updated baseline value is determined based on the first correction coefficient, the interval update ratio, the difference, and the current baseline value.

5. The method according to claim 4, characterized in that, Based on the first correction coefficient, the interval update ratio, the difference, and the current baseline value, the updated baseline value is determined, including: Multiply the first correction coefficient, the interval update ratio, and the difference to obtain the baseline adjustment amount; The baseline adjustment amount is added to the current baseline value to obtain the updated baseline value.

6. The method according to claim 3, characterized in that, The off-hand detection system includes a touch sensor, which comprises a control module, a touch sensing module, and an interference shielding module. Determining the initial mode of the off-hand detection system when it is activated includes: Send first setting parameters for the touch sensing module and the interference shielding module to the control module so that the touch sensing module and the interference shielding module operate under the first setting parameters; The touch sensor is controlled to enter a mode sensing state. In the mode sensing state, the initial mode is determined based on the relationship between the acquired touch sensing value and the calibration range. The initial modes include: removed from hand, foreign object removed from hand, foreign object in hand, and in hand.

7. The method according to any one of claims 1-6, characterized in that, Determining the current mode of the off-hand detection system based on the difference includes: The target decision threshold is determined based on the second correction coefficient corresponding to the initial mode and the preset decision threshold. In response to the difference being greater than the target decision threshold, it is determined that the current mode is the opposite of the initial mode.

8. The method according to any one of claims 1-6, characterized in that, The off-hand detection system includes a touch sensor, which comprises a control module, a touch sensing module, and an interference shielding module; acquiring touch sensing values ​​includes: Send a second setting parameter to the control module for the touch sensing module and the interference shielding module; the second setting parameter is related to the initial mode. The touch sensor is controlled to enter a normal sensing state, and the touch sensing value is acquired in the normal sensing state.

9. The method according to any one of claims 1-6, characterized in that, The hands-off detection system includes a touch sensor and a steering wheel diaphragm. The touch sensor includes a control module, a touch sensing module, and an interference shielding module. The interference shielding module is connected to the shielding layer of the steering wheel diaphragm, and the touch sensing module of the touch sensor is connected to the sensing layer of the steering wheel diaphragm. The touch sensing module is used to generate an induced voltage signal. The interference shielding module is used to: copy the induced voltage information, generate a shielding voltage signal based on the induced voltage signal and shielding parameters, and apply the shielding voltage signal to the shielding layer.

10. A method for detecting when a steering wheel is removed from the hands, characterized in that, The method, applied to a control module in a touch sensor, includes: Receive the first or second setting parameters sent by the controller in the off-hand detection system; The touch sensing module and interference shielding module in the touch sensor are configured according to the first setting parameter or the second setting parameter. The touch sensing value is acquired and sent to the controller.

11. A controller, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in any one of claims 1-10.

12. A steering wheel hands-off detection system, characterized in that, include: The system includes a controller, a steering wheel diaphragm, a touch sensor, and a steering wheel body; the steering wheel diaphragm is installed in the steering wheel body. The touch sensor includes a control module, a touch sensing module, and an interference shielding module; the interference shielding module is connected to the shielding layer of the steering wheel diaphragm, and the touch sensing module is connected to the sensing layer of the steering wheel diaphragm. The touch sensing module is used to generate a sensing voltage signal; The interference shielding module is used to: copy the induced voltage information, generate a shielding voltage signal based on the induced voltage signal and shielding parameters, and apply the shielding voltage signal to the shielding layer.

13. An electric vehicle, characterized in that, include: The controller as claimed in claim 11, or the steering wheel off-hand detection system as claimed in claim 12.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1-10.

15. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-10.

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