Steering wheel hands-off detection method, apparatus, vehicle, medium and program product

Abstract

The present disclosure provides a steering wheel hand-off detection method, device, vehicle, medium and program product, relating to the technical field of assisted driving, and the method comprises: acquiring a wireless reflection signal reflected by a wireless transmission signal transmitted to a steering wheel of a vehicle, and then obtaining a hand-off detection result according to the wireless reflection signal, wherein the hand-off detection result represents that the steering wheel is in a hand-off state or is not in a hand-off state, and since the wireless reflection signal carries information of the steering wheel, the hand, etc., the accuracy of the steering wheel hand-off state detection can be improved.

Description

Technical Field

[0001] This disclosure relates to the field of driver assistance technology, and in particular to a method, device, vehicle, medium, and program product for detecting when a steering wheel is removed from its hands. Background Technology

[0002] During driving, due to unforeseen circumstances or personal habits, drivers may sometimes take their hands off the steering wheel or even leave the driver's seat. This poses a significant safety hazard for a moving vehicle. Currently, the primary method for detecting hands-off actions is through capacitance. This involves placing a capacitor substrate on the steering wheel to create a capacitor. When an object presses or touches the steering wheel, the capacitance changes, which is then considered as the steering wheel being in the driver's hands' position. However, it is difficult to definitively identify the object pressing or touching the steering wheel as the driver's hands. Therefore, the detection methods in these technologies are prone to inaccuracy. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a method, device, vehicle, medium, and program product for detecting steering wheel hands off.

[0004] According to a first aspect of the present disclosure, a steering wheel off-hand detection method is provided, the method comprising: in response to an off-hand detection command being triggered, transmitting a wireless transmission signal to a vehicle steering wheel area; Obtain the wireless reflected signal reflected from the wireless transmission signal in the vehicle steering wheel area; Based on the wireless transmission signal and the wireless reflection signal, a steering wheel off-hand detection result is obtained, wherein the steering wheel off-hand detection result indicates whether the steering wheel is in an off-hand state or not.

[0005] The system acquires the reflected wireless signal from the wireless signal transmitted to the vehicle's steering wheel, and then obtains the hands-off detection result based on the reflected wireless signal. The hands-off detection result indicates whether the steering wheel is in a hands-off state or not. Compared with the capacitive detection method, the accuracy of steering wheel hands-off state detection can be improved because the reflected wireless signal carries information such as the steering wheel and hands.

[0006] In some possible implementations, obtaining the steering wheel removal detection result based on the wireless transmitted signal and the wireless reflected signal includes: The distance between the steering wheel and the driver's hands is determined based on the wireless transmission signal and the wireless reflection signal; Based on the distance, the result of the steering wheel being removed from the hands is obtained.

[0007] In this embodiment, the distance between the steering wheel and the driver's hands is determined by wireless transmission and wireless reflection signals. Steering wheel off-hand detection is then performed based on this distance to obtain the steering wheel off-hand detection result. Compared with the capacitive detection method, detecting off-hand status by detecting the distance between the driver's hands and the steering wheel improves the accuracy of steering wheel off-hand detection.

[0008] In some possible implementations, the number of distances is multiple, and obtaining the steering wheel off-hand detection result based on the distances includes: Determine the minimum distance from multiple distances; The steering wheel off-hand detection result is obtained based on the minimum distance.

[0009] In this embodiment, multiple distances between the steering wheel and the driver's hands are determined by wireless transmission and wireless reflection signals. The minimum distance is then determined from these multiple distances to perform steering wheel off-hand detection, thereby obtaining the steering wheel off-hand detection result. Compared with the capacitive detection method, detecting off-hand status by detecting the distance between the driver's hands and the steering wheel improves the accuracy of steering wheel off-hand detection.

[0010] In some possible implementations, determining the distance between the steering wheel and the driver's hand based on the wireless transmitted signal and the wireless reflected signal includes: A stereoscopic image is obtained based on the wireless transmission signal and the wireless reflection signal, wherein the stereoscopic image includes the position information of the steering wheel and the position information of the driver's hands; Based on the position information of the steering wheel and the position information of the driver's hand in the three-dimensional image, the distance between the steering wheel and the driver's hand is determined.

[0011] In this embodiment, a stereoscopic image is obtained by wirelessly transmitting and reflecting signals. The distance between the steering wheel and the driver's hands is determined based on the stereoscopic image. Steering wheel off-hand detection is performed based on this distance to obtain the steering wheel off-hand detection result. Compared with the capacitive detection method, the method of detecting off-hand status by detecting the distance between the driver's hands and the steering wheel improves the accuracy of steering wheel off-hand status detection.

[0012] In some possible implementations, obtaining the steering wheel removal detection result based on the distance includes: When the distance is greater than a preset distance, a steering wheel off-hand detection result is obtained, which indicates that the steering wheel is in an off-hand state.

[0013] In this embodiment, the distance between the steering wheel and the driver's hands is determined by wireless transmission and wireless reflection signals. When the distance is greater than a preset distance, a steering wheel off-hand detection result is obtained, which indicates that the steering wheel is in an off-hand state. Compared with the capacitive detection method, the off-hand detection is performed by detecting the distance between the driver's hands and the steering wheel, which improves the accuracy of steering wheel off-hand state detection.

[0014] In some possible implementations, obtaining the steering wheel removal detection result based on the distance includes: When the distance is less than or equal to a preset distance, a steering wheel off-hand detection result is obtained, indicating that the steering wheel is not in the off-hand state.

[0015] In this embodiment, the distance between the steering wheel and the driver's hands is determined by wireless transmission and wireless reflection signals. Based on the relationship between this distance and a preset distance, steering wheel off-hand detection is performed. If the distance is less than or equal to the preset distance, a steering wheel off-hand detection result is obtained. Compared with the capacitive detection method, the accuracy of steering wheel off-hand detection is improved by detecting the distance between the driver's hands and the steering wheel.

[0016] In some possible implementations, the method further includes: Obtain feature information of obstacles in the stereo image; The step of obtaining the steering wheel off-hand detection result based on the distance includes: when the feature information includes the pulse information of the driver's hand, obtaining the steering wheel off-hand detection result based on the distance.

[0017] In this embodiment, feature information of obstacles in the stereo image is obtained. When the feature information includes the pulse information of the driver's hand, the steering wheel off-hand detection result is obtained based on the distance. Compared with the capacitive detection method, the off-hand detection is performed by detecting the distance between the driver's hand and the steering wheel, which improves the accuracy of steering wheel off-hand detection.

[0018] In some possible implementations, the method further includes: generating a first prompt message when the pulse information represented by the wireless reflected signal indicates that the pulse value of the driver's hand is not within a preset pulse range, wherein the first prompt message is used to control a prompting device on the vehicle to provide a prompt.

[0019] In this embodiment, if the pulse value of the driver's hand, as represented by the pulse information, is not within the preset pulse range, a first prompt message is generated to provide a prompt, so that the driver can understand his own physical condition.

[0020] In some possible implementations, the method further includes: When the steering wheel removal detection result indicates that the steering wheel is in a hands-off state, a second prompt message is generated, wherein the second prompt message is used to control the prompting device on the vehicle to provide a prompt.

[0021] In this embodiment, when the steering wheel is off-hand detection result indicates that the steering wheel is in an off-hand state, a second prompt message is generated to remind the driver of the off-hand status, thereby improving driving safety.

[0022] In some possible implementations, the method further includes: Detect the first speed of the vehicle; According to a preset mapping relationship, the target prompt level corresponding to the first vehicle speed is obtained, wherein the preset mapping relationship includes the correspondence between multiple vehicle speeds and the prompt level corresponding to each vehicle speed, and the vehicle speed and the prompt level are positively correlated; When the steering wheel removal detection result indicates that the steering wheel is in a hands-off state, a second prompt message is generated, including: When the steering wheel removal detection result indicates that the steering wheel is in a hands-off state, a second prompt message corresponding to the target prompt level is generated, wherein the second prompt message is used to control the prompting device to provide a prompt according to the target prompt level.

[0023] In this embodiment, the target warning level is obtained based on the vehicle's first speed, and warnings are given according to the target warning level. Different levels of warnings are given according to the vehicle speed to improve driving safety.

[0024] In some possible implementations, the prompting device includes at least one of the following: a display device, a voice playback device, a steering wheel, a driver's seat, and an electronic device communicating with the vehicle.

[0025] In this embodiment, the cost of notification is reduced by reusing the equipment on the vehicle itself as the notification device.

[0026] In some possible implementations, the method further includes: When the steering wheel off-hand detection result indicates that the steering wheel is in an off-hand state, the vehicle driving is assisted by the driver assistance system.

[0027] In this embodiment, when the steering wheel is detected to be off-hand, the driving behavior is highly dangerous. The driving assistance system is used to assist the vehicle driving and improve driving safety.

[0028] In some possible implementations, the method further includes: Detect driving data; If the driving data meets the first preset condition, the off-hand detection command is triggered.

[0029] In this embodiment, the steering wheel off-hand detection is not performed constantly. When the driving data meets the first preset condition, the off-hand detection command is triggered to perform off-hand detection, which reduces the cost of off-hand detection.

[0030] In some possible implementations, the driving data includes the vehicle's second speed; triggering the hands-off detection command when the driving data meets a first preset condition includes: If the second vehicle speed is greater than the preset vehicle speed, it is determined that the driving data meets the first preset condition, and the off-hand detection command is triggered.

[0031] In this embodiment, the steering wheel off-hand detection is not performed constantly. When the vehicle's second speed exceeds the preset speed, an off-hand detection command is triggered to perform off-hand detection, thus reducing the cost of off-hand detection.

[0032] In some possible implementations, the driving data includes sensor data collected from the driver's seat of the vehicle, and the triggering of the hands-off detection command when the driving data meets a first preset condition includes: If the sensor data meets the second preset condition, the driving data is determined to meet the first preset condition, and the off-hand detection command is triggered.

[0033] In this embodiment, the steering wheel off-hand detection is not performed constantly. When the sensor data meets the second preset condition, the off-hand detection command is triggered to perform off-hand detection, which reduces the cost of off-hand detection.

[0034] In some possible implementations, the wireless transmission signal includes an ultra-wideband signal.

[0035] In this embodiment, an ultra-wideband signal transmitter is installed on the vehicle, and the ultra-wideband signal is transmitted by reusing the ultra-wideband signal transmitter on the vehicle, which reduces the cost of off-hand detection.

[0036] According to a second aspect of the present disclosure, a steering wheel hands-off detection device is provided, the device comprising: The response module is configured to transmit a wireless signal toward the vehicle steering wheel area in response to a hands-off detection command being triggered. The receiving module is configured to receive the wireless reflected signal and wireless transmission signal reflected by the wireless transmission signal in the vehicle steering wheel area; The detection module is configured to obtain a steering wheel off-hand detection result based on the wireless transmission signal and the wireless reflection signal, wherein the steering wheel off-hand detection result indicates whether the steering wheel is in an off-hand state or not.

[0037] According to a third aspect of the present disclosure, a vehicle is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method of the first aspect when executing the instructions.

[0038] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided that stores computer program instructions thereon, which, when executed by a processor, implement the steps of the method provided in the first aspect of the present disclosure.

[0039] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described in the first aspect.

[0040] The technical solutions provided by the embodiments of this disclosure may include the following beneficial effects: acquiring the wireless reflection signal reflected by the wireless transmission signal transmitted to the steering wheel of the vehicle, and then obtaining the hands-off detection result based on the wireless reflection signal, wherein the hands-off detection result indicates whether the steering wheel is in a hands-off state or not. Compared with the capacitive detection method, since the wireless reflection signal carries information such as the steering wheel and hands, the accuracy of steering wheel hands-off state detection can be improved.

[0041] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0043] Figure 1 This is a flowchart illustrating a method for detecting when a steering wheel is removed from its hands, according to an exemplary embodiment.

[0044] Figure 2 yes Figure 1 Flowchart of step S130.

[0045] Figure 3 This is a schematic diagram of a vehicle used in a steering wheel hands-off detection method.

[0046] Figure 4 This is a block diagram illustrating a steering wheel hands-off detection device according to an exemplary embodiment.

[0047] Figure 5 This is a block diagram illustrating a vehicle according to an exemplary embodiment. Detailed Implementation

[0048] 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 numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0049] During driving, due to unforeseen circumstances or personal habits, drivers may sometimes take their hands off the steering wheel or even leave the driver's seat. This poses a significant safety hazard for a moving vehicle. Currently, capacitive sensing detection is primarily used for hands-off detection. This involves placing a capacitor substrate on the steering wheel to form a capacitor. When an object presses on or touches the steering wheel, the capacitance changes, indicating that the steering wheel is still in the driver's hands. Specifically, the conductive material covering the steering wheel and the capacitor substrate inside the steering wheel are affected by pressure. This causes deformation in the conductive material, resulting in a change in the capacitance value between the conductive material and the capacitor substrate. When the change in capacitance deviates from a pre-set threshold range, it is considered that the steering wheel is in a hands-off state while the vehicle is in motion. However, it is difficult to determine whether the pressure originates from the driver holding the steering wheel or from a heavy object such as a beverage bottle pressing on the steering wheel. Therefore, the detection methods in these technologies are prone to inaccuracy, providing inaccurate information for subsequent driver assistance and autonomous driving systems, thus affecting safe driving.

[0050] To address the aforementioned issues, this disclosure provides a method for detecting when the steering wheel is removed from the hands. Please refer to [link / reference needed]. Figure 1 The steering wheel off-hand detection method can be applied to Figure 3 The vehicles shown Figure 4 The steering wheel hands-off detection device 200 shown Figure 5 The vehicle 600 shown includes a server connected to the vehicle, a computer program product, and a computer-readable storage medium. This embodiment uses a vehicle as an example. The following will focus on... Figure 1 The process shown will be described in detail. The steering wheel hands-off detection method may include the following steps: Step S110: In response to the off-hand detection command being triggered, a wireless transmission signal is transmitted toward the steering wheel area of ​​the vehicle.

[0051] It is extremely dangerous for a driver to take their hands off the steering wheel while driving. To detect this dangerous behavior, a hands-off detection command can be triggered while the vehicle is in motion. In response to the triggering of the hands-off detection command, a wireless signal is transmitted towards the steering wheel area, which includes the steering wheel itself. For example, a transmitter is used to transmit the wireless signal, and the transmitter is installed in an area covered by the wireless signal. For instance, a transmitter is installed on the roof directly opposite the steering wheel, and in response to the triggering of the hands-off detection command, the transmitter transmits a wireless signal towards the steering wheel area. Alternatively, a transmitter can be installed in the center of the steering wheel, and in response to the triggering of the hands-off detection command, it can transmit a wireless signal towards the steering wheel body to detect if the driver's hands are off the wheel. In optional embodiments, the transmitter can be installed at any location capable of transmitting a wireless signal towards the steering wheel area.

[0052] The wireless transmission signal may include an ultra-wideband (UWB) signal. The transmitting device is a UWB transmitting device.

[0053] The vehicle is originally equipped with a UWB transmitter. By reusing the UWB transmitter to emit ultra-wideband signals, the cost of hands-free detection can be reduced. Furthermore, the low power consumption of the UWB transmitter further reduces the cost of hands-free detection. In addition, the high resolution of the ultra-wideband signal improves the accuracy of detection when detecting the driver's hands and steering wheel, especially when it is necessary to detect the driver's pulse. The high resolution of the ultra-wideband signal can improve the accuracy of pulse detection.

[0054] Wireless transmission signals may also include RSSI (Received Signal Strength Indicator) signals, Zigbee signals, etc.

[0055] Step S120: Receive the wireless reflection signal reflected by the wireless transmission signal in the vehicle steering wheel area.

[0056] During the hands-off detection process, a wireless signal is transmitted towards the steering wheel area of ​​the vehicle. The wireless signal is reflected when it encounters obstacles such as the steering wheel or the driver's hands within the steering wheel area, thus obtaining a reflected wireless signal. Optionally, the reflected wireless signal is received by a receiving device on the vehicle after being reflected by an obstacle.

[0057] The receiving device can be an antenna.

[0058] It should be noted that the wireless reflected signal and the wireless transmitted signal are of the same type. For example, if the wireless transmitted signal is a UWB signal, the wireless reflected signal is also a UWB signal.

[0059] Step S130: Obtain the steering wheel off-hand detection result based on the wireless transmission signal and the wireless reflection signal, wherein the steering wheel off-hand detection result indicates whether the steering wheel is in an off-hand state or not.

[0060] The wireless reflected signal is the signal reflected after the wireless transmitted signal encounters obstacles such as the steering wheel or the driver's hands. Based on the wireless transmitted and reflected signals, a hands-off detection result is obtained. A hands-off detection result indicates that the steering wheel is in a hands-off state, meaning the driver's hands are not on or holding the steering wheel. A hands-off detection result indicates that the steering wheel is in a hands-on state, meaning the driver's hands are holding the steering wheel.

[0061] In one embodiment, the time it takes for a wireless reflected signal to be reflected back to the receiving device varies depending on the distance from the wireless reflected signal. The time taken to receive wireless reflected signals at different locations is obtained. Based on this time and the transmission speed of the wireless transmitted signal, the distance between the receiving device and different obstacles is calculated. The outline of the obstacle is drawn based on the distance between the receiving device and the obstacle. The type of obstacle is determined based on the outline. The obstacle may include the steering wheel and the driver's hand. The distance between the driver's hand and the steering wheel is determined based on the difference between the distance between the driver's hand and the steering wheel. The hand-off detection result is determined based on the distance between the driver's hand and the steering wheel.

[0062] The steering wheel off-hand detection method provided in this embodiment acquires the reflected wireless signal from a wireless transmission signal directed towards the vehicle's steering wheel. Based on this reflected signal, an off-hand detection result is obtained. This result indicates whether the steering wheel is in an off-hand state or not. Compared to capacitive detection methods, this method, based on both wireless transmission and reflected signals, can accurately determine information such as steering wheel and hand features, reducing interference from other irrelevant factors and improving the accuracy of steering wheel off-hand detection.

[0063] In one implementation, please refer to Figure 2 Step S130 may include the following steps: Step S131: Determine the distance between the steering wheel and the driver's hand based on the wireless transmission signal and the wireless reflection signal.

[0064] The distance between the steering wheel and the driver's hands is determined based on the difference between the transmitted and received wireless signals. For example, based on the time difference between the time the wireless signal is transmitted and the time it is received, it can be assumed that the transmitted and received signals travel at the same speed. The distance between the steering wheel and the driver's hands is then determined based on the time difference and the propagation speed. Alternatively, the round-trip distance can be determined by multiplying the time difference and the propagation speed, and half of this round-trip distance can be used as the distance between the steering wheel and the driver's hands.

[0065] One approach is to obtain a stereoscopic image based on the wireless transmitted and reflected signals. This stereoscopic image may include information about the steering wheel's position and the driver's hand position, facilitating accurate hand-off detection. For example, a preset algorithm can be used to obtain the stereoscopic image based on the wireless transmitted and reflected signals. This preset algorithm may include shading algorithms, voxelization and meshing algorithms, and surface reconstruction algorithms. Then, based on the steering wheel's position and the driver's hand position information in the stereoscopic image, the distance between the steering wheel and the driver's hand can be determined.

[0066] If the 3D image does not include the driver's hand position information, it determines that the driver's hands have left the steering wheel, generating a steering wheel hands-off detection result representing the hands-off state. To alert the driver to this dangerous behavior, a hands-off warning can be generated to help the driver correct the dangerous driving behavior and improve driving safety.

[0067] Since the driver's hands are in contact with the steering wheel from more than one position, the number of distances obtained is not limited to one, but can be multiple.

[0068] Alternatively, the distance between the driver's hand and the steering wheel can be the distance between any position on the hand and the steering wheel, or it can be the distance between a specific position on the driver's hand and the steering wheel. When the driver's hands are gripping the steering wheel, the driver's fingers are in contact with the steering wheel. The position of the driver's fingers in the 3D image can be determined, and the distance between the finger position and the steering wheel can be obtained. This distance is used for steering wheel removal detection.

[0069] Step S132: Obtain the steering wheel off-hand detection result based on the distance.

[0070] Based on a preset distance, a hand-off detection is performed to obtain the steering wheel hand-off detection result.

[0071] In this embodiment, the distance between the steering wheel and the driver's hands is determined by wireless transmission and wireless reflection signals. Steering wheel off-hand detection is then performed based on this distance to obtain the steering wheel off-hand detection result. Compared with the capacitive detection method, detecting off-hand status by detecting the distance between the driver's hands and the steering wheel improves the accuracy of steering wheel off-hand detection.

[0072] A preset distance is set. In one scenario, if the distance is greater than the preset distance, the distance between the steering wheel and the driver's hands is too far, and the driver's hands are not holding the steering wheel. In this case, a steering wheel off-hand detection result is obtained, indicating that the steering wheel is in a hands-off state. In another scenario, if the distance is less than or equal to the preset distance, it indicates that the driver's hands are not holding the steering wheel and are at a relatively small distance from the steering wheel, in a state where they can take over the steering wheel at any time. In this case, a steering wheel off-hand detection result is obtained, indicating that the steering wheel is not off-hand. Compared to related technologies where no pressure is used to determine off-hand, the solution in this embodiment allows for a certain distance between the driver's hands and the steering wheel, avoiding more false alarms.

[0073] By using wireless transmission and reflection signals, the distance between the steering wheel and the driver's hands is determined. Based on the relationship between this distance and a preset distance, steering wheel off-hand detection is performed, and the steering wheel off-hand detection result is obtained. Compared with the capacitive detection method, detecting off-hand status by detecting the distance between the driver's hands and the steering wheel improves the accuracy of steering wheel off-hand detection.

[0074] One method involves using multiple distances, from which a minimum distance is determined. This minimum distance represents the closest point between the driver's hands and the steering wheel. Based on this minimum distance, a steering wheel hands-off detection result is obtained. For example, if the minimum distance is greater than a preset distance, there is a significant distance between the driver's hands and the steering wheel, indicating that the driver's hands are not holding the steering wheel, thus obtaining a steering wheel hands-off detection result indicating that the steering wheel is in a hands-off state. Alternatively, if the minimum distance is less than a preset distance, the distance between the driver's hands and the steering wheel is relatively close, indicating that the driver's hands are holding the steering wheel, thus obtaining a steering wheel hands-off detection result indicating that the steering wheel is not removed from the hands.

[0075] In this method, the distance between the steering wheel and the driver's hands is determined by wireless transmission and wireless reflection signals. Based on the relationship between this distance and a preset distance, the steering wheel hands-off detection is performed. Compared with the capacitive detection method, the method of detecting hands-off by detecting the distance between the driver's hands and the steering wheel improves the accuracy of steering wheel hands-off detection.

[0076] In this embodiment, multiple distances between the steering wheel and the driver's hands are determined by wireless transmission and wireless reflection signals. The steering wheel is removed from the hands detection based on the minimum distance among these multiple distances, thus obtaining the steering wheel removal detection result. Compared with the capacitive detection method, the method of detecting the distance between the driver's hands and the steering wheel improves the accuracy of steering wheel removal detection.

[0077] Optionally, the method further includes: acquiring feature information of obstacles in the stereoscopic image. The feature information may include the driver's hand pulse information, steering wheel shape information, etc. When the feature information includes the driver's hand pulse information, the steering wheel position is fixed while the driver is driving the vehicle. Due to the pulsation of the driver's veins and arteries, the positions of the veins and arteries may change in the stereoscopic image acquired at different times. Based on the vein and / or artery information in the stereoscopic image acquired at different times, the driver's hand pulse information is acquired. If the pulse information indicates that the driver's hand pulse value is outside a preset pulse range, a first prompt message is generated. This first prompt message is used to control a prompting device on the vehicle to provide a prompt, allowing the driver to understand their physical condition. For example, the prompting device may include a central control screen, which displays the prompt text "Do you need help?" or "Your pulse is abnormal" via the first prompt message. Alternatively, the prompting device may include a steering wheel and / or the driver's seat, which vibrates via the first prompt message to provide a prompt.

[0078] In this embodiment, if the pulse value of the driver's hand, as represented by the pulse information, is not within the preset pulse range, a first prompt message is generated to provide a prompt, so that the driver can understand his own physical condition.

[0079] The preset pulse range can be a normal pulse range, such as 60-100 beats per minute. The preset pulse range can be customized or automatically generated based on specific circumstances.

[0080] For example, the preset pulse range can also be generated based on the driver's historically collected pulse values. When the driver determines that they are in good health, they can turn off the notification device, for example, by manually turning off the notification text on the central control screen. This pulse information can be stored for easy updating of the preset pulse range.

[0081] Optionally, the method further includes: generating a second prompt message when the steering wheel off-hand detection result indicates that the steering wheel is in an off-hand state, wherein the second prompt message is used to control a prompting device on the vehicle to provide a prompt.

[0082] The second prompt information control device provides a reminder of the hands-off status to alert the driver to dangerous driving behaviors and improve driving safety.

[0083] Optionally, the method further includes: detecting a first vehicle speed; and then obtaining a target warning level corresponding to the first vehicle speed according to a preset mapping relationship. The preset mapping relationship includes a correspondence between multiple vehicle speeds and the warning level corresponding to each speed. The vehicle speed and the warning level are positively correlated; that is, the faster the vehicle speed, the higher the warning level, and the slower the vehicle speed, the lower the warning level. For example, if there are multiple warning devices, the warning level can be related to the number of warning devices. For instance, when the first vehicle speed is within a first speed range, the number of warning devices corresponding to the warning level is a first number; when the first vehicle speed is within a second speed range, the number of warning devices corresponding to the warning level is a second number. The upper limit of the first speed range is lower than the lower limit of the second speed range, and the first number is less than the second number. For example, the prompt level can be related to the prompt intensity of the prompting device. When the prompting device includes a voice playback device, when the first vehicle speed is within a first speed range, the prompt intensity of the voice playback device corresponding to the prompt level is a first decibel; when the first vehicle speed is within a second speed range, the prompt intensity of the voice playback device corresponding to the prompt level is a second decibel. The upper limit of the first speed range is lower than the lower limit of the second speed range, and the first decibel is lower than the second decibel. Therefore, for the prompt regarding the hands-off state, when the steering wheel hands-off detection result indicates that the steering wheel is in a hands-off state, a second prompt message corresponding to the target prompt level is generated. This second prompt message is used to control the prompting device to provide a prompt according to the target prompt level.

[0084] In this embodiment, different warning levels are set for different vehicle speeds. The target warning level is dynamically obtained based on the vehicle's first speed, and the warning device provides warnings to the vehicle according to the warning level. This method of dynamically obtaining the warning level based on vehicle speed can effectively improve driving safety and meet personalized warning needs.

[0085] For example, the prompting device includes at least one of the following: a display device, a voice playback device, a steering wheel, a driver's seat, and an electronic device communicating with the vehicle. The electronic device may be a smartphone, an Internet of Things (IoT) device, etc.

[0086] In this embodiment, the cost of notification is reduced by reusing the equipment on the vehicle itself as the notification device.

[0087] When the prompting device includes a steering wheel and / or a driver's seat, the prompting is made according to the second prompting information, which may be by controlling the vibration of the steering wheel and / or the driver's seat to prompt the hand-off status.

[0088] When the prompting device includes a display device, the second prompting information prompts the display device to display the text prompt "Please hold the steering wheel".

[0089] When the prompting device includes a voice playback device, the second prompting information prompts the voice playback device to broadcast the prompt "Please hold the steering wheel".

[0090] When the prompting device is an electronic device that communicates with the vehicle, the electronic device displays or voices the message "Please hold the steering wheel" via a second prompt message.

[0091] In this embodiment, existing warning devices on the vehicle are reused for warnings, which reduces warning costs while ensuring driving safety.

[0092] Optionally, the vehicle can provide more services based on the hands-off detection results, such as autonomous driving and driver assistance services. For example, the method further includes: when the hands-off detection result indicates that the steering wheel is in a hands-off state, assisting the vehicle driving through a driver assistance system. For example, assisting the vehicle to automatically pull over to the side of the road through the driver assistance system. Another example is assisting the vehicle to drive according to navigation information displayed on the vehicle's central control screen through the driver assistance system.

[0093] In this embodiment, when the hand-off detection result indicates that the steering wheel is off-hand, the vehicle is in a dangerous driving state. The driver assistance system assists the vehicle driving and improves driving safety.

[0094] Optionally, the driver may correct the dangerous driving behavior based on the prompts, and the vehicle control prompt device will automatically turn off the reminder. If, after a preset time has elapsed since the prompt device was activated, indicating that the driver has not corrected the dangerous driving behavior, the driver assistance system will be activated to assist the vehicle's driving in order to ensure driving safety.

[0095] Optionally, the method further includes: detecting driving data, such as the vehicle's second speed and / or the pressure value collected on the driver's seat of the vehicle. If the driving data meets preset conditions, the hands-off detection command is triggered.

[0096] In this embodiment, the steering wheel off-hand detection is not performed constantly. When the driving data meets the first preset condition, the off-hand detection command is triggered before the off-hand detection is performed, thereby reducing the overall vehicle energy consumption and the cost of off-hand detection.

[0097] In one implementation, the driving data includes a second vehicle speed. If the second vehicle speed is greater than a preset speed, the driving data is determined to meet the preset condition, triggering the hands-off detection command. For example, the preset speed can be 0. When the second vehicle speed is greater than 0, it indicates that the vehicle is in motion, and the wireless transmission signal is transmitted to the steering wheel to perform hands-off detection. When the vehicle speed is less than 0, it indicates that the vehicle is not in motion, such as when the vehicle is ignited, and there is no need to transmit a wireless transmission signal to the steering wheel to reduce overall vehicle energy consumption.

[0098] In this embodiment, the steering wheel off-hand detection is not performed constantly. When the vehicle's second speed is greater than the preset speed, the off-hand detection command is triggered to perform off-hand detection, thereby reducing the vehicle's energy consumption and lowering the cost of off-hand detection.

[0099] In another embodiment, the driving data includes sensor data collected from the driver's seat. If the sensor data meets a second preset condition, the driving data is determined to meet a first preset condition, triggering a hands-off detection command to perform hands-off detection. Optionally, a pressure sensor can be installed on the driver's seat. The driving data includes pressure values ​​collected by the pressure sensor on the driver's seat. If the pressure value is greater than a preset pressure value, it indicates that the driver is sitting in the driver's seat, and the sensor data is determined to meet the second preset condition, triggering the hands-off detection command. When the pressure value is less than or equal to the preset pressure value, it is determined that the sensor data does not meet the second preset condition, indicating that the driver is not in the driver's seat, the vehicle may not be moving, or the vehicle may be in autonomous driving mode, in which case neither a hands-off detection command nor hands-off detection is required.

[0100] To implement the above-described method embodiments, this disclosure provides a vehicle; please refer to [link / reference]. Figure 3 The vehicle includes a hands-off detection module, a main unit processor, an ADAS (Advanced Driving Assistance System), a display system, an audio system, a vehicle control system, a steering wheel, a vehicle speed sensor, and seat sensors. The hands-off detection module, ADAS, display system, audio system, and vehicle control system are all connected to the main unit processor, while the ADAS, vehicle speed sensor, and seat sensors are all connected to the vehicle control system.

[0101] The vehicle speed sensor is used to collect the vehicle's second speed and feed it back to the vehicle control system.

[0102] The seat sensor is a pressure sensor installed in the driver's seat to collect pressure values ​​in the driver's seat and feed those values ​​back to the vehicle control system.

[0103] The vehicle control system is used to send the second vehicle speed and pressure values ​​to the main processor.

[0104] The main processor controls the hands-off detection module to transmit a wireless signal to the steering wheel when the second vehicle speed is greater than the preset vehicle speed or the pressure value is greater than the preset pressure value.

[0105] The off-hand detection module is used to receive the wireless reflection signal reflected by the wireless transmission signal and feed the wireless reflection signal back to the host processor.

[0106] The host processor is also used to acquire the wireless reflection signal reflected by the wireless transmission signal transmitted to the vehicle's steering wheel; and to obtain the hands-off detection result based on the wireless reflection signal, wherein the hands-off detection result indicates whether the steering wheel is in a hands-off state or not.

[0107] Based on the same inventive concept, this disclosure provides a steering wheel hands-off detection device 200. Please refer to [link / reference]. Figure 4 The steering wheel hands-off detection device 200 includes: Response module 210 is configured to transmit a wireless signal to the steering wheel area of ​​the vehicle in response to a hands-off detection command being triggered; The receiving module 220 is configured to receive the wireless reflected signal reflected by the vehicle steering wheel area based on the wireless transmitted signal; The detection module 230 is configured to obtain a steering wheel off-hand detection result based on the wireless transmission signal and the wireless reflection signal, wherein the steering wheel off-hand detection result indicates whether the steering wheel is in an off-hand state or not.

[0108] Optionally, the detection module 230 includes: The distance detection module is configured to determine the distance between the steering wheel and the driver's hands based on the wireless transmission signal and the wireless reflection signal; The hands-off detection module is configured to obtain the hands-off detection result of the steering wheel based on the distance.

[0109] Optionally, the off-hand detection module includes: The minimum distance confirmation module is configured to determine the minimum distance from multiple distances; The first hands-off detection module is configured to obtain the hands-off detection result of the steering wheel based on the minimum distance.

[0110] Optionally, the distance detection module includes: The processing module is configured to obtain a stereoscopic image based on the wireless transmission signal and the wireless reflection signal, wherein the stereoscopic image includes the position information of the steering wheel and the position information of the driver's hands; The distance determination module is configured to determine the distance between the steering wheel and the driver's hand based on the position information of the steering wheel and the position information of the driver's hand in the stereoscopic image.

[0111] Optionally, the distance determination module includes: The first distance determination module is configured to obtain a steering wheel off-hand detection result, which indicates that the steering wheel is in an off-hand state, when the distance is greater than a preset distance.

[0112] Optionally, the distance determination module includes: The second distance determination module is configured to obtain a steering wheel off-hand detection result, which indicates that the steering wheel is not off-hand, when the distance is less than or equal to a preset distance.

[0113] Optionally, the steering wheel hands-off detection device 200 also includes: The feature information acquisition module is configured to acquire feature information of obstacles in the stereoscopic image; The off-hand detection module includes: The second hands-off detection module is configured to obtain the steering wheel hands-off detection result based on the distance, provided that the feature information includes the pulse information of the driver's hand.

[0114] Optionally, the first prompting module is configured to generate a first prompting message when the pulse information indicates that the driver's hand pulse value is not within a preset pulse range, wherein the first prompting message is used to control the prompting device on the vehicle to provide a prompt.

[0115] Optionally, the steering wheel hands-off detection device 200 also includes: The second prompt module is configured to generate a second prompt message when the steering wheel is off-hand detection result indicates that the steering wheel is in an off-hand state. The second prompt message is used to control the prompting device on the vehicle to provide a prompt.

[0116] Optionally, the steering wheel hands-off detection device 200 also includes: The first vehicle speed detection module is configured to detect the first vehicle speed of the vehicle. The warning level determination module is configured to obtain the target warning level corresponding to the first vehicle speed according to a preset mapping relationship, wherein the preset mapping relationship includes a correspondence between multiple vehicle speeds and the warning level corresponding to each vehicle speed, and the vehicle speed is positively correlated with the warning level; The second prompting module is further configured to generate second prompting information corresponding to the target prompting level when the steering wheel off-hand detection result indicates that the steering wheel is in an off-hand state. The second prompting information is used to control the prompting device to provide prompts according to the target prompting level.

[0117] Optionally, the prompting device includes at least one of the following: a display device, a voice playback device, a steering wheel, a driver's seat, and an electronic device communicating with the vehicle.

[0118] Optionally, the steering wheel hands-off detection device 200 also includes: The driver assistance module is configured to assist vehicle driving through the driver assistance system when the steering wheel is off-hand detection result indicates that the steering wheel is in an off-hand state.

[0119] Optionally, the steering wheel hands-off detection device 200 also includes: The detection module is configured to detect driving data; The triggering module is configured to trigger the hands-off detection command when the driving data meets the first preset condition.

[0120] Optionally, the driving data includes the vehicle's second speed, and the triggering module includes: The first triggering module is configured to determine that the driving data meets the first preset condition when the second vehicle speed is greater than the preset vehicle speed, and then trigger the hands-off detection command.

[0121] Optionally, the driving data includes sensor data collected from the driver's seat of the vehicle, and the triggering module includes: The second triggering module is configured to determine that the driving data meets the first preset condition when the sensor data meets the second preset condition, and then trigger the off-hand detection command.

[0122] Optionally, the wireless transmission signal includes an ultra-wideband signal.

[0123] Regarding the steering wheel off-hand detection device 200 in the above embodiments, the specific methods by which each module performs its operation have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0124] This disclosure also provides a computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the steps of the steering wheel off-hand detection method provided in this disclosure.

[0125] Figure 5This is a block diagram illustrating a vehicle according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. Vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0126] Reference Figure 5 The vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. The vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of the vehicle 600 can be interconnected via wired or wireless means.

[0127] In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, and a navigation system, etc.

[0128] The perception system 620 may include several sensors for sensing information about the environment surrounding the vehicle 600. For example, the perception system 620 may include a global positioning system (which may be GPS, BeiDou, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0129] The decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0130] The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission system, and wheels. The engine may be one or a combination of internal combustion engines, electric motors, and compressed air engines. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0131] Some or all of the functions of vehicle 600 are controlled by computing platform 650. Computing platform 650 may include at least one processor 651 and memory 652, processor 651 can execute instructions 653 stored in memory 652.

[0132] Processor 651 can be any conventional processor, such as a commercially available CPU. Processors may also include graphics processing units (GPUs), field-programmable gate arrays (FPGAs), systems-on-chips (SoCs), application-specific integrated circuits (ASICs), or combinations thereof.

[0133] The memory 652 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.

[0134] In addition to instruction 653, memory 652 can also store data, such as road maps, route information, vehicle position, direction, speed, and other data. The data stored in memory 652 can be used by computing platform 650.

[0135] In this embodiment of the disclosure, the processor 651 may execute instructions 653 to complete all or part of the steps of the above-described steering wheel off-hand detection method.

[0136] In another exemplary embodiment, a computer program product is also provided, comprising a computer program executable by a programmable device, the computer program having a code portion for performing the above-described steering wheel hands-off detection method when executed by the programmable device.

[0137] Those skilled in the art will also understand that the various illustrative logical blocks and steps listed in the embodiments of this application can be implemented by electronic hardware, computer software, or a combination of both. Whether such functionality is implemented through hardware or software depends on the specific application and the overall system design requirements. Those skilled in the art can implement the described functionality using various methods for each specific application, but such implementation should not be construed as exceeding the scope of protection of the embodiments of this application.

[0138] Furthermore, the term “exemplary” is used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as advantageous compared to other aspects or designs. Rather, the use of the term “exemplary” is intended to present the concept in a concrete manner. As used herein, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise specified or clear from the context, “X applies A or B” is intended to mean any of the natural inclusive arrangements. That is, “X applies A or B” satisfies any of the foregoing instances if X applies A; X applies B; or both X applies A and B. Additionally, unless otherwise specified or clear from the context to refer to the singular form, the articles “a” and “an” as used in this application and the appended claims are generally understood to mean “one or more.”

[0139] Similarly, although this disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art upon reading and understanding this specification and the accompanying drawings. This disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise indicated, the terminology used to describe such components is intended to correspond to any component (functionally equivalent) that performs the specific function of the described component, even if structurally not equivalent to the disclosed structure. Furthermore, although specific features of this disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations, as may be desired and advantageous to any given or particular application. Moreover, with regard to the terms “comprising,” “owning,” “having,” “having,” or variations thereof as used in the detailed description or claims, such terms are intended to be inclusive in a manner similar to the term “including.”

[0140] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

[0141] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

[0142] Although terms such as “first,” “second,” and “third” may be used herein to describe various components, parts, regions, layers, or sections, these components, parts, regions, layers, or sections are not limited to these terms. Rather, these terms are used only to distinguish one component, part, region, layer, or section from another. Therefore, without departing from the teachings of the examples described herein, the first component, part, region, layer, or section mentioned in the examples may also be referred to as the second component, part, region, layer, or section. Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first” or “second” may explicitly or implicitly include at least one of that feature. In the description herein, “a plurality” means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A method for detecting when a steering wheel is removed from the hands, characterized in that, The method includes: In response to the triggering of the hands-off detection command, a wireless transmission signal is transmitted toward the steering wheel area of ​​the vehicle. Receive the wireless reflected signal reflected by the wireless transmission signal in the vehicle steering wheel area; Based on the wireless transmission signal and the wireless reflection signal, a steering wheel off-hand detection result is obtained, wherein the steering wheel off-hand detection result indicates whether the steering wheel is in an off-hand state or not.

2. The method according to claim 1, characterized in that, The step of obtaining the steering wheel removal detection result based on the wireless transmission signal and the wireless reflection signal includes: The distance between the steering wheel and the driver's hands is determined based on the wireless transmission signal and the wireless reflection signal; Based on the distance, the result of the steering wheel removal detection is obtained.

3. The method according to claim 2, characterized in that, The number of distances is multiple, and obtaining the steering wheel off-hand detection result based on the distances includes: Determine the minimum distance from multiple distances; The steering wheel off-hand detection result is obtained based on the minimum distance.

4. The method according to claim 2, characterized in that, Determining the distance between the steering wheel and the driver's hand based on the wireless transmitted signal and the wireless reflected signal includes: A stereoscopic image is obtained based on the wireless transmission signal and the wireless reflection signal, wherein the stereoscopic image includes the position information of the steering wheel and the position information of the driver's hands; Based on the position information of the steering wheel and the position information of the driver's hand in the three-dimensional image, the distance between the steering wheel and the driver's hand is determined.

5. The method according to claim 2, characterized in that, The step of obtaining the steering wheel removal detection result based on the distance includes: When the distance is greater than a preset distance, a steering wheel off-hand detection result is obtained, which indicates that the steering wheel is in an off-hand state.

6. The method according to claim 2, characterized in that, The step of obtaining the steering wheel removal detection result based on the distance includes: When the distance is less than or equal to a preset distance, a steering wheel off-hand detection result is obtained, indicating that the steering wheel is not in the off-hand state.

7. The method according to claim 4, characterized in that, The method further includes: Obtain feature information of obstacles in the stereo image; The step of obtaining the steering wheel removal detection result based on the distance includes: When the feature information includes the driver's hand pulse information, the steering wheel removal detection result is obtained based on the distance.

8. The method according to claim 7, characterized in that, The method further includes: If the pulse information indicates that the driver's hand pulse value is not within a preset pulse range, a first prompt message is generated, wherein the first prompt message is used to control the prompting device on the vehicle to provide a prompt.

9. The method according to claim 1, characterized in that, The method further includes: When the steering wheel removal detection result indicates that the steering wheel is in a hands-off state, a second prompt message is generated, wherein the second prompt message is used to control the prompting device on the vehicle to provide a prompt.

10. The method according to claim 9, characterized in that, The method further includes: Detect the first speed of the vehicle; According to a preset mapping relationship, the target prompt level corresponding to the first vehicle speed is obtained, wherein the preset mapping relationship includes the correspondence between multiple vehicle speeds and the prompt level corresponding to each vehicle speed, and the vehicle speed and the prompt level are positively correlated; When the steering wheel removal detection result indicates that the steering wheel is in a hands-off state, a second prompt message is generated, including: When the steering wheel removal detection result indicates that the steering wheel is in a hands-off state, a second prompt message corresponding to the target prompt level is generated, wherein the second prompt message is used to control the prompting device to provide a prompt according to the target prompt level.

11. The method according to claim 8 or 9, characterized in that, The prompting device includes at least one of the following: a display device, a voice playback device, a steering wheel, a driver's seat, and an electronic device that communicates with the vehicle.

12. The method according to any one of claims 1 to 10, characterized in that, The method further includes: When the steering wheel off-hand detection result indicates that the steering wheel is in an off-hand state, the vehicle driving is assisted by the driver assistance system.

13. The method according to any one of claims 1 to 10, characterized in that, The method further includes: Detect driving data; If the driving data meets the first preset condition, the off-hand detection command is triggered.

14. The method according to claim 13, characterized in that, The driving data includes the vehicle's second speed; triggering the hands-off detection command when the driving data meets the first preset condition includes: If the second vehicle speed is greater than the preset vehicle speed, it is determined that the driving data meets the first preset condition, and the off-hand detection command is triggered.

15. The method according to claim 13, characterized in that, The driving data includes sensor data collected from the driver's seat of the vehicle. Triggering the hands-off detection command when the driving data meets a first preset condition includes: If the sensor data meets the second preset condition, the driving data is determined to meet the first preset condition, and the off-hand detection command is triggered.

16. The method according to any one of claims 1 to 10, characterized in that, The wireless transmission signals include ultra-wideband signals.

17. A steering wheel hands-off detection device, characterized in that, The device includes: The response module is configured to transmit a wireless signal toward the vehicle steering wheel area in response to a hands-off detection command being triggered. The receiving module is configured to receive the wireless reflected signal and wireless transmission signal reflected by the wireless transmission signal in the vehicle steering wheel area; The detection module is configured to obtain a steering wheel off-hand detection result based on the wireless transmission signal and the wireless reflection signal, wherein the steering wheel off-hand detection result indicates whether the steering wheel is in an off-hand state or not.

18. A vehicle, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the steps of the method according to any one of claims 1 to 16 when executing the instructions.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method described in any one of claims 1 to 16.

20. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 16.

Images