Vehicle control method, vehicle control device and vehicle

Abstract

The invention provides a method for controlling a vehicle, a device for controlling the vehicle and the vehicle, and relates to the field of auxiliary driving. The method comprises the steps of obtaining a contact position of a target object and a steering wheel of a vehicle under the condition that an auxiliary driving function of the vehicle is started; based on the contact position, obtaining a target feature value of the target object, the target feature value including a first feature value, and the first feature value being used for indicating probability distribution of the contact position; obtaining a detection result based on the target feature value, the detection result being used for indicating whether the driver is in a hand release state; and controlling the vehicle to execute an auxiliary driving function based on the detection result. According to the method, the accuracy of hand release detection can be improved, so that the safety of an auxiliary driving function is improved.

Description

Technical Field

[0001] This application relates to the field of driver assistance systems, and more specifically, to a method for controlling a vehicle, a device for controlling a vehicle, and a vehicle in the field of driver assistance systems. Background Technology

[0002] With the continuous development of vehicle technology, the popularity of Advanced Driver Assistance Systems (ADAS) continues to increase. In order to ensure the reliability of system functions and driving safety, vehicles need to be equipped with effective driver hands-off detection functions during assisted driving.

[0003] Existing hands-off detection solutions mostly rely on steering wheel torque and duration of action, or use capacitive steering wheels for sensing. These judgment conditions are difficult to adapt to complex and ever-changing real-world driving scenarios, are prone to misjudgment, and cannot accurately identify whether the driver is cheating, resulting in low accuracy of hands-off detection.

[0004] Therefore, improving the accuracy of hands-free detection, thereby enhancing the safety of driver assistance functions, is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a method for controlling a vehicle, a device for controlling a vehicle, and a vehicle, the method of which can improve the accuracy of hands-free detection, thereby improving the safety of driver assistance functions.

[0006] Firstly, a method for controlling a vehicle is provided, the method comprising: With the vehicle's driver assistance functions activated, obtain the contact position between the target object and the vehicle's steering wheel; Based on the contact location, the target feature value of the target object is obtained. The target feature value includes a first feature value, which is used to indicate the probability distribution of the contact location. Based on the target feature value, the detection result is obtained, which is used to indicate whether the driver is in a hands-free state; Based on the detection results, control the vehicle to perform driver assistance functions.

[0007] In the above technical solution, when the vehicle's assisted driving function is activated, the contact position between the target object and the steering wheel is obtained, and a target feature value containing the probability distribution of the contact position is determined based on the contact position to determine whether the driver is in a hands-free state. Combined with the hands-free state detection result, the vehicle is controlled to execute the assisted driving function. This solution can accurately identify the hands-free state from the distribution characteristics of the driver's grip position, improving the accuracy of hands-free detection. Furthermore, by combining the detection result with vehicle control, the safety of the vehicle's assisted driving function can be improved, ensuring vehicle driving safety.

[0008] In conjunction with the first aspect, in some possible implementations, the target feature values ​​of the target object are obtained based on the contact location, including: Based on the contact position, the position offset of the target object relative to the steering wheel is obtained. The position offset includes circumferential offset and radial offset. Based on the position offset, the target feature value of the target object is obtained.

[0009] In the above technical solution, the positional offset, which includes circumferential and radial offsets, is first obtained based on the contact position between the target object and the steering wheel. Then, the target feature value of the target object is obtained based on the positional offset. This can reflect the changing pattern of the grip position from both circumferential and radial dimensions, making the judgment of the hands-off state more comprehensive and improving the accuracy of the target feature value. Furthermore, it can improve the accuracy of driver hands-off detection.

[0010] Combining the first aspect and the above implementation methods, in some possible implementation methods, the target feature value of the target object is obtained based on the position offset, including: Determine the target ratio of circumferential offset to radial offset; Based on the target ratio, the first feature value of the target object is obtained.

[0011] In the above technical solution, by determining the target ratio between the circumferential offset and radial offset of the target object relative to the steering wheel, and obtaining a first feature value based on the target ratio to indicate the probability distribution of the contact position, the randomness and variation characteristics of the contact position trajectory change can be quantified, effectively distinguishing between the driver's real grip state and non-real grip state; and then, based on the first feature value, the detection result can be obtained, which can improve the accuracy of the detection result.

[0012] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the target feature value also includes a second feature value, which is used to indicate the frequency of change of the contact position; Based on the position offset, the target feature values ​​of the target object are obtained, including: Based on the position offset, the target number is obtained. The target number refers to the number of times the position offset is greater than or equal to a preset threshold within the target time period. Based on the target number of times and the target duration, the second feature value of the target object is obtained.

[0013] In the above technical solution, by determining the number of times the position offset is greater than or equal to a preset threshold within the target duration, and then combining the target number and the target duration, a second feature value is determined to represent the frequency of change of the contact position. This can reflect the activity level and actual operability of the contact position, enrich the judgment basis of the hand-drop detection, and further improve the accuracy of the hand-drop detection.

[0014] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the target feature value also includes a third feature value, which is used to indicate the degree of linkage between contact pressure and position offset; the method also includes: Obtain the contact pressure between the target object and the vehicle's steering wheel; Based on the position offset, the target feature values ​​of the target object are obtained, including: The third characteristic value of the target object is obtained based on the position offset and contact pressure.

[0015] In the above technical solution, the contact pressure between the target object and the vehicle steering wheel is acquired, and combined with the position offset of the target object and the contact pressure, a third feature value is obtained to indicate the degree of linkage between the contact pressure and the position offset; it can effectively identify slip-out or cheating behavior by utilizing the inherent law of synchronous change of pressure and position when actually holding the vehicle, thereby further improving the accuracy of slip-out detection.

[0016] Combining the first aspect and the above implementation methods, in some possible implementation methods, based on the position offset and contact pressure, the third characteristic value of the target object is obtained, including: When the circumferential offset is greater than or equal to the preset angle, the pressure change of the contact pressure is obtained based on the contact pressure. The third characteristic value of the target object is obtained based on the pressure change and circumferential offset.

[0017] In the above technical solution, by determining the pressure change within the target time based on the contact pressure when the circumferential offset is greater than or equal to the preset angle, and obtaining the third feature value based on the pressure change and the circumferential offset, the linkage relationship between the contact pressure and the contact position can be accurately evaluated when the contact position of the target object moves effectively, thereby improving the effectiveness of the linkage feature and thus improving the accuracy of the release detection.

[0018] Combining the first aspect and the above implementation methods, in some possible implementation methods, the detection result is obtained based on the target feature value, including: When the target feature value meets the preset conditions, the detection result indicates that the driver is in a hands-free state; When the target feature value does not meet the preset conditions, the detection result indicates that the driver is not in a hands-free state; The preset conditions include at least one of the following: a first feature value is less than or equal to a first preset threshold, a second feature value is less than or equal to a second preset threshold, and a third feature value is less than or equal to a third preset threshold.

[0019] In the above technical solution, at least one of the first, second, and third feature values ​​satisfying a corresponding threshold condition is used as the basis for determining the hands-free state. When the above preset conditions are met, it is determined that the driver is in a hands-free state; when the above preset conditions are not met, it is determined that the driver is not in a hands-free state. This approach can comprehensively judge from multiple dimensions such as probability distribution, frequency of change, and the linkage between pressure and position, avoiding misjudgments and omissions caused by a single criterion, which helps improve the accuracy of hands-free detection and thus improves the safety of assisted driving functions.

[0020] Combining the first aspect and the above implementation methods, in some possible implementation methods, based on the detection results, the vehicle is controlled to perform assisted driving functions, including: When the test results indicate that the driver is not in a hands-free state, the vehicle is kept in the driver assistance function. When the detection result indicates that the driver is in a hands-free state, a target prompt message is output to remind the driver to hold the steering wheel; after the target prompt message is output, if the detection result indicates that the driver is in a hands-free state within a preset time, the vehicle is controlled to drive to a safe area and the driver assistance function is deactivated.

[0021] In the above technical solution, by maintaining the assisted driving function when the driver is not in a hands-free state, and by executing prompts and reminders step by step when the driver is in a hands-free state, driving safely to a safe area and disengaging the assisted driving function, it is possible to achieve graded handling and safety control of hands-free state. This improves the accuracy of detection while ensuring vehicle driving safety, further enhancing the safety of assisted driving function and ensuring vehicle driving safety.

[0022] Secondly, a device for controlling a vehicle is provided, the device comprising: The acquisition module is used to acquire the contact position between the target object and the vehicle's steering wheel when the vehicle's assisted driving function is activated. The processing module is used to obtain target feature values ​​of the target object based on the contact position. The target feature values ​​include a first feature value, which is used to indicate the probability distribution of the contact position. Based on the target feature values, a detection result is obtained, which is used to indicate whether the driver is in a hands-free state. Based on the detection result, the vehicle is controlled to perform assisted driving functions.

[0023] In conjunction with the second aspect, in some possible implementations, the processing module is also used to obtain the positional offset of the target object relative to the steering wheel based on the contact position, the positional offset including circumferential offset and radial offset; and to obtain the target feature value of the target object based on the positional offset.

[0024] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is also used to determine the target ratio of the circumferential offset to the radial offset; based on the target ratio, the first feature value of the target object is obtained.

[0025] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the target feature value also includes a second feature value, which is used to indicate the frequency of change of the contact position; the processing module is also used to obtain the target number based on the position offset, the target number refers to the number of times the position offset is greater than or equal to a preset threshold within the target duration; and to obtain the second feature value of the target object based on the target number and the target duration.

[0026] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the target feature value also includes a third feature value, which is used to indicate the degree of linkage between contact pressure and position offset; the acquisition module is also used to acquire the contact pressure between the target object and the steering wheel of the vehicle; the processing module is also used to obtain the third feature value of the target object based on the position offset and the contact pressure.

[0027] In combination with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is also used to obtain the pressure change of the contact pressure based on the contact pressure when the circumferential offset is greater than or equal to the preset angle; and to obtain the third characteristic value of the target object based on the pressure change and the circumferential offset.

[0028] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is further configured to determine that the detection result indicates the driver is in a hands-free state when the target feature value meets the preset conditions; and to determine that the detection result indicates the driver is not in a hands-free state when the target feature value does not meet the preset conditions; wherein the preset conditions include at least one of the following: the first feature value is less than or equal to the first preset threshold, the second feature value is less than or equal to the second preset threshold, and the third feature value is less than or equal to the third preset threshold.

[0029] In conjunction with the second aspect and the above implementation methods, in some possible implementation methods, the processing module is also used to control the vehicle to maintain the assisted driving function when the detection result indicates that the driver is not in a hands-free state; when the detection result indicates that the driver is in a hands-free state, output target prompt information, which is used to prompt the driver to hold the steering wheel; after outputting the target prompt information, if the detection result indicates that the driver is in a hands-free state within a preset time, control the vehicle to drive to a safe area and exit the assisted driving function.

[0030] Thirdly, a vehicle is provided, including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0031] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0032] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of a vehicle system architecture provided in an embodiment of this application; Figure 2 This is a schematic flowchart illustrating a method for controlling a vehicle according to an embodiment of this application; Figure 3 This is a schematic flowchart of a hand-removal detection method provided in an embodiment of this application; Figure 4 This is a schematic flowchart of a vehicle alarm method provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0034] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0035] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0036] To ensure the safe use of vehicle driver assistance functions, the driver must keep their hands on the steering wheel when these functions are activated to allow for timely takeover in emergencies. Existing steering wheel hands-off detection methods rely on pressure signals to prevent drivers from taking their hands off the wheel. However, this method only detects the presence of external materials on the steering wheel and cannot distinguish whether the driver's hands are actually on the wheel. This makes it susceptible to manipulation by adding external components or silicone grips. Furthermore, existing solutions rely on a light source to detect a fixed area, making them vulnerable to external light and obstructed views. Additionally, existing solutions involve actively rotating the steering wheel to detect driver hand torque, increasing unnecessary energy consumption and potentially affecting the driving experience. This can also be manipulated by adding counterweights. Therefore, existing hands-off detection technologies are flawed, resulting in low accuracy and compromising the safety of vehicle driver assistance functions, posing potential safety hazards.

[0037] In view of the technical problems existing in the prior art, embodiments of this application provide a method for controlling a vehicle, a device for controlling a vehicle, and a vehicle. The method, upon detecting that the vehicle's assisted driving function is activated, acquires the contact position between a target object and the vehicle's steering wheel; and determines a target feature value of the target object based on the object's position; wherein the target feature value includes a first feature value indicating a probability distribution of the contact position; finally, based on the target feature value, determines whether the driver is in a hands-free state; and based on the detection result, controls the vehicle to execute the assisted driving function. This method improves the accuracy of driver hands-free detection, thereby enhancing the safety of the vehicle's assisted driving function.

[0038] Figure 1 This is a schematic diagram of a vehicle system architecture provided in an embodiment of this application. Figure 1 As shown, the system 100 may include a dynamic perception layer 101, a judgment and processing decision layer 102, an interactive execution layer 103, and an alarm execution layer 104.

[0039] The dynamic perception layer 101 includes a sensor module 1011, a data preprocessing module 1012, and a position coordinate mapping module 1013. Specifically, the sensor module 1011 comprises four independent sensing strips evenly arranged around the circumference of the vehicle's steering wheel rim. Each sensing strip contains 36 pressure-capacitance composite sensing units, totaling 144 detection points. The sensing unit thickness is less than or equal to 0.5 mm, and the acquisition frequency is 50 Hz. It is used to acquire the physical contact signal between the target object and the steering wheel, simultaneously obtaining the changes in contact pressure and capacitance values, providing raw data for trajectory analysis. The data preprocessing module 1012 filters and reduces noise from the acquired raw data to remove irrelevant noise caused by uneven road surfaces or electromagnetic interference during driving. It also synchronizes the acquired pressure and capacitance signals in time to avoid deviations caused by acquisition delays between the two physical quantities, providing reliable data and ensuring accuracy during subsequent coordinate mapping. The position coordinate mapping module 1013 is used to convert the detected physical position into digital coordinates, establish a steering wheel polar coordinate system with the center of the steering wheel as the origin, and map the preprocessed contact signal to the physical position of each sensing unit to form a unique polar coordinate (r, θ), where θ is the circumferential angle, ranging from 0 to 360°; r is the radial distance, ranging from 0 to the steering wheel radius; at the same time, it extracts the continuous position contact area information of the target object, converts the physical position of the contact into quantifiable and analyzable spatial coordinate data, and provides a spatial analysis benchmark for subsequent trajectory tracking.

[0040] It should be noted that the above configuration of the sensor unit is only an example description, and the embodiments of this application do not specifically limit the configuration location and number of the sensor units.

[0041] The decision-making layer 102 includes a dynamic trajectory analysis module 1021, a deception identification decision module 1022, and a threshold storage module 1023. The dynamic trajectory analysis module 1021 calculates trajectory feature parameters based on real-time extracted hand contact area data mapped to a coordinate set, and constructs a three-dimensional feature model depicting the contact state between the target object and the steering wheel, providing a basis for judging deception behavior. The deception identification decision module 1022 calls the thresholds in the threshold storage module 1023 and compares the trajectory feature parameters with preset thresholds to identify whether the current state is normal driving or a deceptive, hands-free state, and transmits the identification result to the interaction module 1031. The threshold storage module 1023 stores calibrated judgment thresholds corresponding to different trajectory feature parameters. These thresholds are set based on basic data analysis of a large number of real driver driving situations. The thresholds can be calibrated and adjusted according to different vehicle models and different needs to improve system adaptability. Upon receiving a threshold call instruction from the deception identification decision module 1022, the relevant thresholds are sent to the deception identification decision module 1022.

[0042] The interaction execution layer 103 includes an interaction module 1031, an assisted driving analysis module 1032, and an assisted driving execution module 1033. The interaction module 1031 receives the identification result sent by the deception identification decision module 1022 and sends the identification result to the assisted driving analysis module 1032. Simultaneously, the interaction module 1031 also receives the status signal of the assisted driving function sent by the assisted driving execution module 1033 and feeds back the on / off status of the assisted driving function to the sensor module 1011, instructing the sensor module 1011 to collect data when the vehicle's assisted driving function is on and not to collect data when the vehicle's assisted driving function is off. The assisted driving analysis module 1032 determines whether an alarm needs to be triggered based on the identification result; if an alarm is triggered, it sends a signal to the electronic control module 1041; if an alarm is not triggered, it sends a signal to the assisted driving execution module 1033. After receiving the signal sent by the assisted driving analysis module 1032, the assisted driving execution module 1033 performs the vehicle's assisted driving function normally; at the same time, the assisted driving execution module 1033 is also used to monitor the status of the vehicle's assisted driving function and synchronize the status signal to the interaction module 1031.

[0043] The alarm execution layer 104 includes an electronic control module 1041 and an alarm execution module 1042. The electronic control module 1041, which can be a vehicle control unit or an audio / video controller, etc., receives signals from the driver assistance analysis module 1032 and, upon receiving the signals, sends control signals to the alarm execution module 1042 to execute the alarm strategy. The alarm execution module 1042 may specifically include alarm devices such as a horn and instrument clusters, used to output alarm information to remind the driver to hold the steering wheel.

[0044] The following is combined Figures 2 to 4 The method for controlling a vehicle provided in the embodiments of this application will be described in detail.

[0045] Figure 2 This is a schematic flowchart illustrating a method for controlling a vehicle according to an embodiment of this application. It should be understood that this method can be applied to a vehicle; or, to a processor in a vehicle; or, to a chip in a processor integrated into a vehicle.

[0046] For example, such as Figure 2 As shown, the method 200 includes: S201, when the vehicle's driver assistance function is activated, obtain the contact position between the target object and the vehicle's steering wheel.

[0047] The target object refers to the object that comes into contact with the vehicle's steering wheel. The target object can be the user's real hand, or objects used for deception detection, such as silicone hands and capacitive deception sheets.

[0048] For example, a driver can activate the vehicle's driver assistance functions using button controls or virtual controls. Once activated, the sensor unit on the vehicle's steering wheel begins collecting data to determine the contact position of a target object that is in contact with the steering wheel.

[0049] For example, the contact position may include an initial contact position and a dynamic contact position. After the driver assistance function is activated, contact data is collected within an initial duration (e.g., 3 seconds) as the initial contact position. Then, continuous dynamic monitoring begins, using sensor units to collect contact data in real time at preset sampling intervals to determine the dynamic contact position. For example, with a sensor unit sampling frequency of 50Hz, the sampling interval can be determined to be 100ms; the coordinate set of the contact position is extracted every 100ms. , where t is used to represent the time series.

[0050] S202, Based on the contact position, obtain the target feature value of the target object. The target feature value includes a first feature value, which is used to indicate the probability distribution of the contact position.

[0051] The target feature value can also be called the trajectory feature or trajectory feature parameter, etc. The first feature value can also be called the randomness index, etc., and can be represented by R.

[0052] For example, considering that the contact position and force between the driver and the steering wheel change with time and road conditions during actual driving, and taking into account the objective fact that the driver's hand contact position with the steering wheel naturally and dynamically changes during driving, after obtaining the contact position of the target object on the steering wheel, the contact position can be analyzed to obtain the target feature value of the target object. The target feature value is used to reflect whether the target object is the driver's actual hand.

[0053] For example, considering that the actual contact position between the driver and the steering wheel will change randomly rather than be fixed, the target feature value may include a first feature value that indicates the probability distribution of the contact position.

[0054] In one implementation, the process of obtaining the target feature value of the target object based on the contact position may include: Based on the contact position, the position offset of the target object relative to the steering wheel is obtained. The position offset includes circumferential offset and radial offset. Based on the position offset, the target feature value of the target object is obtained.

[0055] For example, the contact position may include an initial contact position. The set of coordinates corresponding to the dynamic contact position After obtaining the contact position, the positional offset of the target object relative to the steering wheel can be calculated based on the initial and dynamic contact positions. This positional offset is then analyzed to obtain the target feature value of the target object. The contact position is mapped onto a polar coordinate system with the steering wheel center as the origin. The coordinates of the contact position can be represented by (r, θ), where θ is the circumferential angle, ranging from 0 to 360°; and r is the radial distance, ranging from 0 to the steering wheel radius. Correspondingly, the positional offset includes a circumferential offset Δθ and a radial offset Δr. The circumferential offset Δθ indicates the angle by which the target object rotates along the circumference of the steering wheel, and the radial offset Δr indicates the distance the target object moves along the radius of the steering wheel.

[0056] For example, initial contact position The coordinates can be ( Dynamic contact positions may include ( ), ( ... ( The corresponding circumferential offset, including Δ, can be calculated. =( ), △ =( )…△ =( Radial offset includes Δ =( ), △ =( )…△ =( ).

[0057] In this embodiment, the positional offset, which includes circumferential and radial offsets, is first obtained based on the contact position between the target object and the steering wheel. Then, the target feature value of the target object is obtained based on the positional offset. This can reflect the changing pattern of the grip position from both circumferential and radial dimensions, making the judgment of the hands-off state more comprehensive and improving the accuracy of the target feature value. Furthermore, it can improve the accuracy of driver hands-off detection.

[0058] In one implementation, the process of obtaining the target feature value of the target object based on the position offset may specifically include: Determine the target ratio of circumferential offset to radial offset; Based on the target ratio, the first feature value of the target object is obtained.

[0059] For example, after obtaining the position offset including the circumferential offset and the radial offset, the target ratio between the circumferential offset and the radial offset can be calculated; and the first feature value of the target object can be obtained based on the target ratio.

[0060] For example, the process of determining the first feature value based on the target ratio may include calculating the probability distribution entropy value of the target ratio and determining the probability distribution entropy value as the first feature value.

[0061] Optionally, the process of determining the first characteristic value based on the target ratio can also be achieved by analyzing the target ratio through calculation of the variance, standard deviation, or autocorrelation coefficient, etc., to determine the corresponding first characteristic value, which reflects the degree of randomness of the contact position.

[0062] In this embodiment of the application, by determining the target ratio between the circumferential offset and the radial offset of the target object relative to the steering wheel, and obtaining a first feature value based on the target ratio to indicate the probability distribution of the contact position, the randomness and variation characteristics of the contact position trajectory change can be quantified, effectively distinguishing between the driver's real grip state and non-real grip state; and by obtaining the detection result based on the first feature value, the accuracy of the detection result can be improved.

[0063] In one implementation, the target feature value also includes a second feature value, which is used to indicate the frequency of change in the contact position; The process of obtaining the target feature value of the target object based on the position offset may also include: Based on the position offset, the target number is obtained. The target number refers to the number of times the position offset is greater than or equal to a preset threshold within the target time period. Based on the target number of times and the target duration, the second feature value of the target object is obtained.

[0064] The second eigenvalue can also be called the position change frequency, which can be represented by f.

[0065] For example, the contact position between the driver and the steering wheel will change naturally during actual driving, rather than being a fixed position. Therefore, the target feature value may also include a second feature value to indicate the frequency of change of the contact position.

[0066] For example, after determining the position offset of the contact position, the number of times the position offset is greater than or equal to a preset threshold within a target duration (e.g., 5 seconds) can be counted; then, by combining the target number and the target duration, a second characteristic value of the target object can be determined to indicate the frequency of contact position changes.

[0067] For example, the position offset includes a circumferential offset Δθ and a radial offset Δr. The circumferential offset Δθ corresponds to a preset angle threshold (e.g., 5°), and the radial offset Δr corresponds to a preset distance threshold (e.g., 5mm). The number of times Δθ≥5° or Δr≥5mm within 5s can be counted, and then the target number can be divided by the target duration to obtain the change frequency per unit time (e.g., 1s). This change frequency is determined as the second feature value of the target object.

[0068] It should be noted that the preset angle threshold and preset distance threshold values ​​mentioned above are only illustrative examples. In practical applications, the positional offset of the driver's hand during natural movements can be determined by combining the data actually measured by the driver, and the corresponding preset threshold can be determined accordingly.

[0069] In this embodiment of the application, by determining the number of times the position offset is greater than or equal to a preset threshold within the target duration, and then combining the target number and the target duration, a second feature value is determined to represent the frequency of change of the contact position. This can reflect the activity level and actual operability of the contact position, enrich the judgment basis for hand drop detection, and further improve the accuracy of hand drop detection.

[0070] In one implementation, the target feature value further includes a third feature value, which indicates the degree of linkage between contact pressure and position offset; the method also includes: Obtain the contact pressure between the target object and the vehicle's steering wheel; The process of obtaining the target feature value of the target object based on the position offset may also include: The third characteristic value of the target object is obtained based on the position offset and contact pressure.

[0071] The third eigenvalue can also be called the pressure-position linkage coefficient, which can be represented by K.

[0072] For example, considering that when a driver actually grips the steering wheel, the change in its contact position is usually accompanied by pressure changes, rather than a fixed pressure value, the target feature value may also include a third feature value to indicate the degree of linkage between contact pressure and position offset.

[0073] For example, the contact pressure between the target object and the steering wheel can be collected by the sensor unit on the vehicle's steering wheel; then, the third characteristic value of the target object can be obtained by combining the position offset of the contact position and the contact pressure.

[0074] In this embodiment, the contact pressure between the target object and the vehicle steering wheel is acquired, and combined with the position offset of the target object and the contact pressure, a third feature value is obtained to indicate the degree of linkage between the contact pressure and the position offset; it can effectively identify hand-off or cheating behavior by utilizing the inherent law of synchronous change of pressure and position when actually holding the hand, thereby further improving the accuracy of hand-off detection.

[0075] In one implementation, the process of obtaining the third characteristic value of the target object based on the position offset and contact pressure may specifically include: When the circumferential offset is greater than or equal to the preset angle, the pressure change of the contact pressure is obtained based on the contact pressure. The third characteristic value of the target object is obtained based on the pressure change and circumferential offset.

[0076] Among them, the pressure change refers to the contact pressure at the current contact position. Contact pressure corresponding to the initial contact position The difference between them.

[0077] For example, if the circumferential offset of the contact position is greater than or equal to a preset angle (e.g., 5°), it indicates that the target object has moved effectively. Then, based on the contact pressure detected in real time, the pressure change of the contact pressure can be determined. Then, by combining the pressure change and the circumferential offset, the third characteristic value of the target object can be determined.

[0078] For example, the ratio between the pressure change and the circumferential offset is calculated, and this ratio is determined as the third characteristic value corresponding to the set of data.

[0079] In this embodiment, by determining the pressure change within the target time based on the contact pressure when the circumferential offset is greater than or equal to a preset angle, and obtaining a third feature value based on the pressure change and the circumferential offset, the linkage between the contact pressure and the contact position can be accurately evaluated when the contact position of the target object moves effectively, thereby improving the effectiveness of the linkage feature and thus improving the accuracy of the release detection.

[0080] S203, based on the target feature value, the detection result is obtained, and the detection result is used to indicate whether the driver is in a hands-free state.

[0081] The target feature value may include any one or more of the first feature value, the second feature value, and the third feature value.

[0082] For example, after analyzing and obtaining the target feature values ​​of the target object, the target feature values ​​can be further analyzed to determine the corresponding detection results, which are used to determine whether the driver is currently in a hands-free state.

[0083] In one implementation, the process of obtaining the detection result based on the target feature value may specifically include: When the target feature value meets the preset conditions, the detection result indicates that the driver is in a hands-free state; When the target feature value does not meet the preset conditions, the detection result indicates that the driver is not in a hands-free state; The preset conditions include at least one of the following: a first feature value is less than or equal to a first preset threshold, a second feature value is less than or equal to a second preset threshold, and a third feature value is less than or equal to a third preset threshold.

[0084] For example, the target feature value can reflect the contact state between the target object and the steering wheel. Preset conditions corresponding to the target feature value are pre-defined. These preset conditions are calibrated based on actual contact data when the driver is not in a hands-free state. For instance, if the first feature value R corresponding to the actual hand movement trajectory is greater than or equal to 0.5, and the first feature value R corresponding to the external device movement trajectory is less than or equal to 0.2, then the first preset threshold corresponding to the first feature value R can be set to 0.3; if the second feature value f is 0 when the external device is in fixed contact, and the second feature value f when the driver is actually holding the steering wheel is greater than or equal to 3 times / 5 seconds, then the second preset threshold corresponding to the second feature value f can be set to 1 time / 5 seconds; if the third feature value K corresponding to the position change and pressure change when the driver is actually holding the steering wheel is greater than or equal to 0.2 N / mm, then the third preset threshold corresponding to the third feature value K can be set to 0.1 N / mm.

[0085] It should be noted that the above values ​​are all for illustrative purposes. In actual applications, a large amount of real driver grip data and deceptive data of hands-free states can be used for experimental determination to establish a more accurate threshold and thus improve the accuracy of hands-free state judgment.

[0086] For example, after obtaining the target feature value of the target object, it is determined whether the target feature value meets the preset conditions, and then the detection result is obtained.

[0087] For example, the target feature value includes at least one of a first feature value, a second feature value, and a third feature value. When any one of the target feature values ​​meets a preset condition, it indicates that the current contact behavior of the target object does not conform to the driver's actual grip behavior, and the detection result indicates that the driver is in a hands-free state; when none of the target feature values ​​meets the preset condition, it indicates that the current contact behavior of the target object fully conforms to the driver's actual grip behavior, and the detection result indicates that the driver is not in a hands-free state.

[0088] In this embodiment, at least one of the first, second, and third feature values ​​satisfying a corresponding threshold condition is used as the basis for determining the hands-free state. When the above preset condition is met, it is determined that the driver is in a hands-free state; when the above preset condition is not met, it is determined that the driver is not in a hands-free state. This approach can comprehensively judge from multiple dimensions such as probability distribution, frequency of change, and the linkage between pressure and position, avoiding misjudgments and omissions caused by a single criterion, which helps improve the accuracy of hands-free detection and thus improves the safety of assisted driving functions.

[0089] S204, based on the detection results, controls the vehicle to perform driver assistance functions.

[0090] For example, after determining the detection result based on the target feature value, the vehicle can be controlled to perform corresponding driver assistance functions to match the current driving scenario.

[0091] In one implementation, the process of controlling the vehicle to perform assisted driving functions based on the detection results may specifically include: When the test results indicate that the driver is not in a hands-free state, the vehicle is kept in the driver assistance function. When the detection result indicates that the driver is in a hands-free state, a target prompt message is output to remind the driver to hold the steering wheel; after the target prompt message is output, if the detection result indicates that the driver is in a hands-free state within a preset time, the vehicle is controlled to drive to a safe area and the driver assistance function is deactivated.

[0092] For example, when the detection result indicates that the driver is not in a hands-free state, the vehicle can be controlled to maintain the current driver assistance function to meet the user's actual assistance needs during driving. When the detection result indicates that the driver is in a hands-free state, to ensure driving safety, a target prompt message can be output to remind the driver that there is an accident risk in the hands-free state and to hold the steering wheel. After outputting the target prompt message, the target feature value is analyzed again to determine whether the driver is still in a hands-free state. If the driver is detected not to be in a hands-free state within a preset time period, the vehicle can be controlled to maintain the normal driver assistance function; if the driver is still detected to be in a hands-free state within a preset time period, the vehicle can be controlled to drive to a safe area such as the roadside or a parking lot, and the vehicle can be controlled to disengage the driver assistance function to warn the driver that there is a significant accident risk in hands-free driving.

[0093] For example, if there is no need to monitor the driver's hands-free state after the vehicle's driver assistance functions are turned off, the sensor detection on the vehicle's steering wheel can be turned off simultaneously to avoid energy waste.

[0094] Optionally, the target prompt information can be output via voice prompts through a speaker, or via warning lights or text warnings displayed on the instrument panel.

[0095] In this embodiment, by maintaining the assisted driving function when the driver is not in a hands-free state, and by executing prompts and reminders step by step, driving safely to a safe area and disengaging the assisted driving function when the driver is in a hands-free state, it is possible to achieve graded handling and safety control of the hands-free state. This improves the accuracy of detection while ensuring vehicle driving safety, further enhancing the safety of the assisted driving function and ensuring vehicle driving safety.

[0096] In summary, in this embodiment, when the vehicle's assisted driving function is activated, the contact position between the target object and the steering wheel is obtained, and a target feature value containing the probability distribution of the contact position is determined based on the contact position to determine whether the driver is in a hands-free state. Combined with the hands-free state detection result, the vehicle is controlled to execute the assisted driving function. This solution can accurately identify the hands-free state from the distribution characteristics of the driver's grip position, improving the accuracy of hands-free detection. Furthermore, by combining the detection result with vehicle control, the safety of the vehicle's assisted driving function can be improved, ensuring vehicle driving safety.

[0097] Figure 3 This is a schematic flowchart illustrating a hands-free detection method provided in an embodiment of this application. It should be understood that this method can be applied to a vehicle; or, to a processor in a vehicle; or, to a chip in a processor integrated into a vehicle.

[0098] For example, such as Figure 3 As shown, the method 300 includes: S301 collects baseline data within a preset time period after the driver assistance function is activated.

[0099] For example, after the vehicle's driver assistance function is activated, the driver's hands will make actual contact with the steering wheel. The sensor unit configured on the vehicle's steering wheel will collect reference data within a preset time period (e.g., 5 seconds). The reference data may include contact pressure, contact position, etc.

[0100] S302, based on baseline data, determines the initial contact area and initial contact pressure.

[0101] For example, after acquiring the reference data, the initial contact area and the initial contact signal can be determined by combining the reference data. The initial contact area, also known as the initial contact position, can be represented using a polar coordinate system with the steering wheel center as the origin. The initial contact area can be represented as... ( The initial contact signal includes the initial pressure value, which can be expressed as: .

[0102] S303, determine the position offset based on the changed area and the initial contact area.

[0103] For example, after the contact area of ​​the target object changes, the positional offset of the target object can be determined based on where the contact area is in the changed area.

[0104] For example, the position offset includes circumferential offset and radial offset.

[0105] S304, calculates the frequency of change based on the position offset.

[0106] The frequency of change is also the second feature value in the target feature value.

[0107] For example, by combining the circumferential offset and the radial offset, the frequency f of the change in the contact area of ​​the target object within the target duration can be determined.

[0108] Alternatively, the implementation of S304 can be found above. Figure 2 The relevant description of determining the second feature value in S202 is not repeated here in the embodiments of this application.

[0109] S305, determine whether the frequency of change is less than or equal to the second preset threshold. If yes, execute S310; otherwise, execute S307.

[0110] For example, after calculating the frequency of change, it can be determined whether the frequency of change is less than or equal to a second preset threshold (e.g., 1 time / 5 seconds).

[0111] Alternatively, the implementation of S305 can be found in [reference needed]. Figure 2 The relevant description of S203 is not repeated here in the embodiments of this application.

[0112] S306, calculates the randomness index based on the position offset.

[0113] The randomness index, also known as the first characteristic value in the target characteristic value, indicates the probability distribution of the contact area.

[0114] For example, the randomness index R corresponding to the contact area of ​​the target object can be determined based on the circumferential offset and the radial offset.

[0115] Alternatively, the implementation of S306 can be found above. Figure 2 The relevant description of determining the first feature value in S202 is not repeated here in the embodiments of this application.

[0116] S307, determine whether the randomness index is less than or equal to the first preset threshold. If yes, proceed to S310; otherwise, proceed to S309.

[0117] For example, after calculating the randomness index, it can be determined whether the randomness index is less than or equal to a first preset threshold (e.g., 0.3).

[0118] Alternatively, the implementation of S307 can be found in [reference needed]. Figure 2 The relevant description of S203 is not repeated here in the embodiments of this application.

[0119] S308, calculates the linkage index based on position offset and initial contact pressure.

[0120] Among them, the linkage index, which is also the third characteristic value in the target characteristic value, indicates the degree of linkage between contact pressure and position offset.

[0121] For example, by combining the circumferential offset and the initial contact pressure, the linkage index between the contact pressure and the contact position (contact area) of the target object during its movement can be determined.

[0122] Alternatively, the implementation of S308 can be found above. Figure 2 The relevant description of determining the third feature value in S202 is not repeated here in the embodiments of this application.

[0123] S309, determine whether the linkage index is less than or equal to the third preset threshold. If yes, proceed to S310; otherwise, proceed to S311.

[0124] For example, after calculating the linkage index, it can be determined whether the linkage index is less than or equal to a third preset threshold (e.g., 0.1 N / mm).

[0125] Alternatively, the implementation of S309 can be found in [reference needed]. Figure 2 The relevant description of S203 is not repeated here in the embodiments of this application.

[0126] S310, confirming that the driver is in a hands-free state.

[0127] For example, if the detected change frequency is less than or equal to a second preset threshold, or the randomness index is less than or equal to a first preset threshold, or the linkage index is less than or equal to a third preset threshold, it can be determined that the driver is in a hands-free state.

[0128] S311, confirm that the driver is not in a hands-free state.

[0129] For example, if the detected change frequency is greater than a second preset threshold, the randomness index is greater than a first preset threshold, and the linkage index is greater than a third preset threshold, it can be determined that the driver is in a hands-free state.

[0130] It should be noted that the target feature value may include at least one of the above-mentioned randomness index, frequency of change and linkage index. This application embodiment is only used as an example to illustrate that the target feature value contains three feature values ​​at the same time and is judged in the above order. This application embodiment does not make specific limitations on the judgment order among the three, and the technical effect of this solution can also be achieved by judging any one or two of the randomness index, frequency of change or linkage index.

[0131] In summary, in this embodiment, after the assisted driving function is activated, the positional offset of the target object relative to the steering wheel is determined by combining the baseline data detected by the steering wheel and the changed area. Then, the change frequency and randomness index are calculated based on the positional offset, and the linkage index is determined by combining the positional offset and the initial contact pressure. The relationship between each feature and a preset threshold is then judged to determine whether the driver is in a hands-free state. Compared to existing technologies that only rely on a single capacitance or pressure for hands-free detection, this solution detects the driver's grip state from three aspects: change frequency, randomness index, and pressure-position linkage index. This improves the accuracy of hands-free detection and thus ensures the safe use of the vehicle's assisted driving function.

[0132] Figure 4 This is a schematic flowchart illustrating a vehicle alarm method provided in an embodiment of this application. It should be understood that this method can be applied to a vehicle; or, to a processor in a vehicle; or, to a chip integrated into a processor in a vehicle.

[0133] For example, such as Figure 4 As shown, the method 400 includes: S401 acquires vehicle data upon receiving a command to activate the driver assistance function.

[0134] For example, a user triggers the activation command for the driver assistance function through button controls or virtual controls; after the vehicle system receives the activation command, it acquires relevant vehicle data, which refers to data that affects the activation permission of the driver assistance function, such as driver status data, vehicle driving data, hardware status data, and environmental data, etc.

[0135] S402, based on vehicle data, determine whether to allow the activation of the driver assistance function. If yes, proceed to S403; otherwise, proceed to S404.

[0136] For example, after obtaining vehicle data, the system determines whether the current operating conditions allow the activation of the driver assistance function.

[0137] For example, driver status data can be used to detect whether the driver has their hands off the steering wheel. If the driver is in a hands-off state, the driver assistance function should not be activated, and a target prompt message should be output to remind the driver to grip the steering wheel. Simultaneously, the driver's attention and fatigue level should be detected to determine whether the driver assistance function should be activated.

[0138] For example, regarding vehicle driving data, it can be determined whether the vehicle speed is within a preset speed range. If it is, then enabling the assisted driving function is allowed; otherwise, enabling the assisted driving function is not allowed. Simultaneously, data about the vehicle itself, such as the status of the doors, hood, trunk, and gear position, can also be monitored to determine whether enabling the assisted driving function is permitted.

[0139] For example, hardware status data can be used to monitor the operating status of the controller in the vehicle, as well as the status of devices such as cameras and radar, and battery voltage, in order to determine whether to allow the activation of the driver assistance function.

[0140] For example, environmental data can be monitored, such as surrounding vehicles, lane markings, or weather conditions, to determine whether to allow the activation of driver assistance features.

[0141] S403, control driver assistance functions and steering wheel detection system are turned off.

[0142] For example, if vehicle data indicates that the driver assistance function is not allowed to be activated, the driver assistance function and the steering wheel detection system are turned off.

[0143] For example, if the driver is detected to have been driving hands-free for an extended period of time when the driver assistance function is enabled, the driver assistance function is disabled, and the steering wheel detection system is turned off after the driver assistance function is disabled.

[0144] S404, activate driver assistance functions and activate steering wheel detection system.

[0145] For example, if it is determined that the driver assistance function is allowed to be activated, the driver assistance function is activated and the steering wheel detection system is activated to collect contact data of the target object on the steering wheel.

[0146] S405, based on the data collected by the steering wheel detection system, determines the detection result of the hands-off detection.

[0147] For example, data is collected through a steering wheel detection system, and the detection result of the hands-off detection is determined based on the collected data.

[0148] S406, determine whether the detection result indicates that the driver is in a hands-free state. If yes, proceed to S408; if no, proceed to S407.

[0149] For example, after obtaining the detection result of the hands-free detection, it is determined whether the detection result indicates that the driver is in a hands-free state.

[0150] Alternatively, the implementation methods of S405 and S406 can be found in [reference needed]. Figure 2The relevant descriptions of S201 to S203 are not repeated here in the embodiments of this application.

[0151] S407, keep driver assistance functions enabled.

[0152] For example, when the test results indicate that the driver is not in a hands-free state, the vehicle's driver assistance functions are kept in normal operation and use.

[0153] In one implementation, the vehicle speed is monitored, and if the vehicle is detected to be in a hands-free state while stationary, the driver assistance function will still be kept active.

[0154] S408 outputs target prompt information via speakers or instruments.

[0155] For example, if the detection result indicates that the driver is in a hands-free state, a target prompt message can be output through a speaker or instrument panel to remind the driver to grip the steering wheel and eliminate the safety hazard.

[0156] S409, determine whether the driver is holding the steering wheel. If yes, proceed to S407; otherwise, proceed to S410.

[0157] For example, after outputting the target prompt information, the driver's hands-free state is continuously monitored to determine whether the driver is holding the steering wheel.

[0158] S410, control the vehicle to move to a safe area.

[0159] For example, if the driver remains hands-free and does not hold the steering wheel for a preset period of time, the vehicle will be controlled to move to a safe area such as the roadside. After reaching the safe area, the driver assistance functions and the steering wheel detection system will be deactivated.

[0160] In summary, this embodiment effectively prevents accidental activation or continuous operation of driver assistance systems in scenarios that do not meet safety conditions by pre-verifying vehicle data and detecting driver hands-off driving. When driver hands-off driving is detected, a timely prompt is output to guide the driver back into control, reducing the risk of accidents caused by distraction. If the driver continues to fail to take over, the system proactively controls the vehicle to a safe area to protect the safety of passengers. Simultaneously, the steering wheel detection system is simultaneously deactivated when the driver assistance function is turned off, avoiding unnecessary energy consumption and system usage.

[0161] The above text combined Figures 1 to 4 The method for controlling a vehicle provided in the embodiments of this application has been described in detail; the following will be combined with Figure 5 and Figure 6The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0162] Figure 5 This is a schematic diagram of a device for controlling a vehicle provided in an embodiment of this application.

[0163] For example, such as Figure 5 As shown, the device 500 includes: The acquisition module 501 is used to acquire the contact position between the target object and the vehicle's steering wheel when the vehicle's assisted driving function is activated. The processing module 502 is used to obtain target feature values ​​of the target object based on the contact position, the target feature values ​​including a first feature value, the first feature value being used to indicate the probability distribution of the contact position; obtain a detection result based on the target feature values, the detection result being used to indicate whether the driver is in a hands-free state; and control the vehicle to perform assisted driving functions based on the detection result.

[0164] In one possible implementation, the processing module 502 is further configured to obtain the position offset of the target object relative to the steering wheel based on the contact position, the position offset including circumferential offset and radial offset; and obtain the target feature value of the target object based on the position offset.

[0165] In one possible implementation, the processing module 502 is further configured to determine a target ratio of circumferential offset to radial offset; and based on the target ratio, to obtain a first feature value of the target object.

[0166] In one possible implementation, the target feature value further includes a second feature value, which is used to indicate the frequency of change of the contact position; the processing module 502 is also used to obtain the target number based on the position offset, the target number refers to the number of times the position offset is greater than or equal to a preset threshold within the target duration; and to obtain the second feature value of the target object based on the target number and the target duration.

[0167] In one possible implementation, the target feature value also includes a third feature value, which is used to indicate the degree of linkage between contact pressure and position offset; the acquisition module 501 is also used to acquire the contact pressure between the target object and the steering wheel of the vehicle; the processing module 502 is also used to obtain the third feature value of the target object based on the position offset and the contact pressure.

[0168] In one possible implementation, the processing module 502 is further configured to, when the circumferential offset is greater than or equal to a preset angle, obtain the pressure change of the contact pressure based on the contact pressure; and obtain the third characteristic value of the target object based on the pressure change and the circumferential offset.

[0169] In one possible implementation, the processing module 502 is further configured to determine that the detection result indicates the driver is in a hands-free state when the target feature value meets the preset conditions; and to determine that the detection result indicates the driver is not in a hands-free state when the target feature value does not meet the preset conditions; wherein the preset conditions include at least one of the following: a first feature value is less than or equal to a first preset threshold, a second feature value is less than or equal to a second preset threshold, and a third feature value is less than or equal to a third preset threshold.

[0170] In one possible implementation, the processing module 502 is further configured to control the vehicle to maintain the assisted driving function when the detection result indicates that the driver is not in a hands-free state; output target prompt information when the detection result indicates that the driver is in a hands-free state, the target prompt information being used to prompt the driver to hold the steering wheel; after outputting the target prompt information, if the detection result indicates that the driver is in a hands-free state within a preset time period, control the vehicle to drive to a safe area and exit the assisted driving function.

[0171] It should be noted that the aforementioned vehicle control devices are embodied in the form of functional units. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0172] For example, a "module" can be a software program, a hardware circuit, or a combination of both that implements the above functions. The hardware circuit may include an application-specific integrated circuit (ASIC), electronic circuits, a processor (e.g., a shared processor, a proprietary processor, or a group processor) and memory for executing one or more software or firmware programs, integrated logic circuits, and / or other suitable components that support the described functions.

[0173] Therefore, the units of the various examples described in the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0174] Figure 6 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0175] For example, such as Figure 6As shown, the vehicle 600 includes a memory 601 and a processor 602, wherein the memory 601 stores executable program code 603, and the processor 602 is used to call and execute the executable program code 603 to perform a method for controlling the vehicle.

[0176] Furthermore, embodiments of this application also protect an apparatus that may include a memory and a processor, wherein the memory stores executable program code, and the processor is used to call and execute the executable program code to perform a method for controlling a vehicle provided in embodiments of this application.

[0177] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0178] When the functional modules are divided according to their respective functions, the device may also include an acquisition module, a processing module, etc. It should be noted that all relevant content of each step involved in the above method embodiments can be referenced to the functional description of the corresponding functional module, and will not be repeated here.

[0179] It should be understood that the device provided in this embodiment is used to execute the above-described method for controlling a vehicle, and therefore can achieve the same effect as the above-described implementation method.

[0180] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code.

[0181] The processing module may be a processor or a controller, which can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0182] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a method for controlling a vehicle provided in the above embodiments.

[0183] This embodiment also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a method for controlling a vehicle provided in the above embodiment.

[0184] The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives, and magneto-optical disks, read-only memory (ROMs), random access memory (RAMs), erasable programmable read-only memory (EPROMs), electrically erasable programmable read-only memory (EEPROMs), dynamic random access memory (DRAMs), video random access memory (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and / or data.

[0185] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned steps to implement a method for controlling a vehicle provided in the above embodiment.

[0186] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0187] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0188] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0189] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for controlling a vehicle, characterized in that, The method includes: With the vehicle's driver assistance function activated, the contact position between the target object and the vehicle's steering wheel is obtained; Based on the contact location, a target feature value of the target object is obtained, the target feature value including a first feature value, the first feature value being used to indicate the probability distribution of the contact location; Based on the target feature value, a detection result is obtained, which is used to indicate whether the driver is in a hands-free state; Based on the detection results, the vehicle is controlled to perform the assisted driving function.

2. The method according to claim 1, characterized in that, The process of obtaining the target feature value of the target object based on the contact position includes: Based on the contact position, the positional offset of the target object relative to the steering wheel is obtained, and the positional offset includes circumferential offset and radial offset; Based on the position offset, the target feature value of the target object is obtained.

3. The method according to claim 2, characterized in that, The process of obtaining the target feature value of the target object based on the position offset includes: Determine the target ratio of the circumferential offset to the radial offset; Based on the target ratio, the first feature value of the target object is obtained.

4. The method according to claim 2, characterized in that, The target feature value also includes a second feature value, which is used to indicate the frequency of change of the contact position; The process of obtaining the target feature value of the target object based on the position offset includes: Based on the position offset, the target number is obtained, whereby the target number refers to the number of times the position offset is greater than or equal to a preset threshold within the target duration; Based on the target number of times and the target duration, the second feature value of the target object is obtained.

5. The method according to claim 2, characterized in that, The target feature value further includes a third feature value, which indicates the degree of linkage between contact pressure and position offset; the method further includes: Obtain the contact pressure between the target object and the steering wheel of the vehicle; The process of obtaining the target feature value of the target object based on the position offset includes: The third characteristic value of the target object is obtained based on the position offset and the contact pressure.

6. The method according to claim 5, characterized in that, The process of obtaining the third characteristic value of the target object based on the position offset and the contact pressure includes: When the circumferential offset is greater than or equal to a preset angle, the pressure change of the contact pressure is obtained based on the contact pressure. Based on the pressure change and the circumferential offset, the third characteristic value of the target object is obtained.

7. The method according to any one of claims 1 to 6, characterized in that, The process of obtaining the detection result based on the target feature value includes: When the target feature value meets the preset conditions, the detection result indicates that the driver is in the hands-free state; When the target feature value does not meet the preset condition, the detection result indicates that the driver is not in the hands-free state; The preset conditions include at least one of the following: the first feature value is less than or equal to the first preset threshold, the second feature value is less than or equal to the second preset threshold, and the third feature value is less than or equal to the third preset threshold.

8. The method according to any one of claims 1 to 6, characterized in that, Based on the detection results, controlling the vehicle to perform the assisted driving function includes: When the detection result indicates that the driver is not in the hands-free state, the vehicle is controlled to maintain the driver assistance function; When the detection result indicates that the driver is in the hands-free state, a target prompt message is output, which is used to prompt the driver to hold the steering wheel; after the target prompt message is output, if the detection result indicates that the driver is in the hands-free state within a preset time period, the vehicle is controlled to drive to a safe area and the driver assistance function is deactivated.

9. A device for controlling a vehicle, characterized in that, The device includes: The acquisition module is used to acquire the contact position between the target object and the steering wheel of the vehicle when the vehicle's assisted driving function is activated. The processing module is configured to obtain target feature values ​​of the target object based on the contact position, the target feature values ​​including a first feature value, the first feature value being used to indicate the probability distribution of the contact position; obtain a detection result based on the target feature values, the detection result being used to indicate whether the driver is in a hands-free state; and control the vehicle to perform the assisted driving function based on the detection result.

10. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 8.

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