Hands on determination system of steering wheel

Abstract

To provide a hands on determination system of a steering wheel capable of inhibiting erroneous determination.SOLUTION: A hands on determination system of a steering wheel includes onboard sensors including a sensor for detecting a torque applied to a steering wheel, and a processor that, when the torque exceeds a torque threshold, determines that a hands on condition where a driver holds the steering wheel is established. The onboard sensors include a sensor for acquiring information on a posture of a vehicle body of a self vehicle. When it is determined based on the information acquired from the sensor that the current posture of the vehicle body is a predetermined reference posture and consistent with a posture attained when the vehicle is halted on an even road surface, the processor allocates a predetermined standard value to the torque threshold. When it is determined that the current posture of the vehicle body is different from the reference posture, the processor allocates a predetermined value larger than the standard value to the torque threshold.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a steering wheel hands-on determination device that determines whether a driver is gripping the steering wheel of a vehicle. [Background technology]

[0002] A driving assistance device has been proposed that assists the driver in driving operations when a certain condition is met. For example, the driving assistance device is equipped with an ADTJA function (ADTJA=Advanced Drive Traffic Jam Assist) that causes the vehicle to proceed along the driving lane when a traffic jam occurs on an expressway or a motorway. When the ADTJA function is enabled and a certain hands-off condition is met, the driver is allowed to take his / her hands off the steering wheel (hands-off). When the hands-off condition is not met in the hands-off state (for example, when the driving assistance device detects that the driver is not paying attention to the road ahead, when the driving assistance device is unable to recognize lane marks (line markings of the driving lane), etc.), the driving assistance device issues an alarm to encourage the driver to hold the steering wheel (hands-on). Then, when the driving assistance device detects that the driver has held the steering wheel, the alarm ends.

[0003] The driving assistance device described above includes a device that determines whether or not the driver is gripping the steering wheel (a steering wheel hands-on determination device) (see, for example, Patent Document 1 below). This device (hereinafter referred to as the conventional device) includes a sensor that detects an external force (torque) that rotates the steering wheel. The conventional device determines that the driver is gripping the steering wheel when the output value of the sensor exceeds a threshold value. In this specification, "grip" and "hands-on" refer to a state in which the driver is touching the steering wheel to such an extent that he or she can immediately begin steering. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-14468 A Summary of the Invention

[0005] Incidentally, when the vehicle accelerates (decels) and / or turns, the action of inertial force causes pitching (vertical shaking) and rolling (lateral shaking) of the vehicle body (hereinafter referred to as "posture collapse"). For example, when the vehicle is decelerating, the action of inertial force toward the front of the vehicle causes pitching (nose dive) in which the front end of the vehicle body slightly drops. Here, in the hands-off state, the rotation of the steering wheel is not restricted. Therefore, due to the posture collapse of the vehicle body, the steering wheel rotates slightly, and the output value (torque value) of the steering wheel sensor increases and may temporarily exceed the threshold value. In this case, there is a risk that the conventional device will determine (misdetermine) that the steering wheel is being gripped, even though the steering wheel is not being gripped.

[0006] One object of the present invention is to provide a steering wheel hands-on determination device that can reduce erroneous determinations.

[0007] In order to solve the above problems, the steering wheel hands-on determination device (1) of the present invention comprises: an on-vehicle sensor (20) including a steering sensor (22) for detecting a torque (τs) applied to a steering wheel (SW); a processor (10) that determines that the driver is in a hands-on state where the driver is gripping the steering wheel when the torque exceeds a torque threshold (τsth); Equipped with. The on-board sensor includes an attitude sensor (21, 23, 24) for acquiring information (αx, αy, G, YR) regarding the attitude of the body of the host vehicle, The processor, based on the information obtained from the attitude sensor, When it is determined that the current posture of the vehicle body is a predetermined reference posture and coincides with the posture of the host vehicle when parked on a level road surface, a predetermined standard value (τ0) is assigned to the torque threshold value; When it is determined that the current posture of the vehicle body is different from the reference posture, a predetermined value (τ1, τ2, τ3) that is greater than the standard value is assigned to the torque threshold value. It is configured as follows.

[0008] The steering wheel hands-on determination method according to the present invention includes the steps of: a torque detection step of detecting a torque applied to a steering wheel; a determining step of determining that the driver is in a hands-on state where the driver is gripping the steering wheel when the torque exceeds a torque threshold value; Includes. A posture information acquisition step of acquiring information regarding a posture of a body of a host vehicle, The determining step is based on the information acquired in the posture information acquiring step, When it is determined that the current posture of the vehicle body is a predetermined reference posture and coincides with the posture of the host vehicle when parked on a level road surface, a predetermined standard value is assigned to the torque threshold value; when it is determined that the current attitude of the vehicle body is different from the reference attitude, a predetermined value larger than the standard value is assigned to the torque threshold value. A threshold setting step is included.

[0009] In addition, the steering wheel hands-on determination program according to the present invention includes: The computer of the vehicle a torque detection step of detecting a torque applied to a steering wheel; a determining step of determining that the driver is in a hands-on state where the driver is gripping the steering wheel when the torque exceeds a torque threshold value; Execute the command. The determination step includes a posture information acquisition step of acquiring information regarding a posture of a body of the host vehicle, The determining step is based on the information acquired in the posture information acquiring step, When it is determined that the current posture of the vehicle body is a predetermined reference posture and coincides with the posture of the host vehicle when the host vehicle is stopped on a level road surface, a predetermined standard value is assigned to the torque threshold value; when it is determined that the current attitude of the vehicle body is different from the reference attitude, a predetermined value larger than the standard value is assigned to the torque threshold value. A threshold setting step is included.

[0010] As described above, there are assumed to be scenes (hereinafter referred to as "specific scenes") in which the steering wheel rotates slightly due to the vehicle body's posture being out of alignment when the driver is not gripping the steering wheel, thereby increasing the output value (detected torque value) of the steering sensor. According to the present invention, when the posture of the vehicle body of the vehicle differs from the reference posture (when the vehicle body's posture is out of alignment), the torque threshold is raised. Therefore, in specific scenes, the output value of the steering sensor is less likely to exceed the torque threshold compared to when the torque threshold is not raised. Therefore, in specific scenes, it is suppressed that the driver is determined to be gripping the steering wheel when he or she is not gripping the steering wheel (erroneous determination).

[0011] In one aspect of the present invention, there is provided a steering wheel hands-on determination device, When the processor detects that pitching is occurring in the vehicle body, the processor assigns a predetermined first torque value (τ1) to the torque threshold value.

[0012] According to the steering wheel hands-on determination device of this aspect, when the front end side of the vehicle is tilted so as to be positioned lower or higher than the rear end side, the torque threshold is raised. As a result, in a specific scene, the output value of the steering sensor is less likely to exceed the torque threshold compared to a case in which the torque threshold is not raised. Therefore, in a specific scene, it is suppressed that the driver is not gripping the steering wheel when it is judged that the driver is gripping the steering wheel (erroneous judgment).

[0013] In a steering wheel hands-on determination device according to another aspect of the present invention, When the processor detects that the vehicle body is rolling, the processor assigns a second torque value (τ2) to the torque threshold value.

[0014] According to the steering wheel hands-on determination device of this embodiment, when the right end (left end) of the vehicle is tilted so that it is positioned lower than the left end (right end) (a scene where rolling occurs), the torque threshold is raised. As a result, in a specific scene, the output value of the steering sensor is less likely to exceed the torque threshold compared to a case where the torque threshold is not raised. Therefore, in a specific scene, it is suppressed from being determined that the driver is gripping the steering wheel when the driver is not gripping the steering wheel (erroneous determination). [Brief description of the drawings]

[0015] [Figure 1] FIG. 1 is a block diagram of a steering wheel hands-on determination device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a time chart showing a first operation example of the steering wheel hands-on determination device of FIG. [Diagram 3] FIG. 3 is a time chart showing a second operation example of the steering wheel hands-on determination device of FIG. [Figure 4]FIG. 4 is a flowchart of a program for implementing the hands-on determination function. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] (Summary) As shown in FIG. 1, a steering wheel hands-on determination device 1 (hereinafter referred to as the hands-on determination device 1) according to one embodiment of the present invention is applied to a vehicle V (hereinafter referred to as the "own vehicle") equipped with an automatic driving function and a driving assistance function. The above-mentioned ADTJA function is included as one of the driving assistance functions. The hands-on determination device 1 determines whether or not the driver is gripping the steering wheel when the automatic driving function is disabled and the ADTJA function is enabled, and provides the determination result to the driving assistance device.

[0017] (Specific configuration) As shown in FIG. 1, the hands-on determination device 1 includes an ECU 10 and an in-vehicle sensor 20.

[0018] The ECU 10 includes a microcomputer including a CPU 10a, a ROM 10b (a rewritable non-volatile memory), a RAM 10c, a timer 10d, etc. The CPU realizes various functions by executing programs (instructions) stored in the ROM. The ECU 10 is connected to other ECUs (for example, ECUs that perform driving assistance (warning, automatic braking, etc.)) via a CAN (Controller Area Network).

[0019] The on-vehicle sensors 20 include an acceleration sensor 21 and a steering sensor 22 .

[0020] The acceleration sensor 21 detects and outputs an acceleration αx in the longitudinal direction of the host vehicle and an acceleration αy in the width direction of the host vehicle. The acceleration sensor 21 provides the acceleration αx and the acceleration αy to the ECU 10.

[0021] The steering sensor 22 detects and outputs the absolute value (hereinafter referred to as "torque value τs") of an external force (torque) that rotates the steering wheel SW based on the torsion angle of a torsion bar connected to the steering wheel SW. The steering sensor 22 provides the detected value to the ECU 10. The steering sensor 22 has a sensitivity sufficient to detect minute torque applied to the steering wheel SW when the driver lightly grips the steering wheel SW. The steering sensor 22 also has a sensitivity sufficient to detect minute torque generated in the steering wheel SW when the vehicle accelerates and / or turns while the steering wheel SW is not being gripped.

[0022] (Hands-on assessment function) Under the condition that the ADTJA function is enabled, the ECU 10 sequentially acquires the torque value τs from the steering sensor 22. Then, when the torque value τs is equal to or less than the threshold value τsth, the ECU 10 determines that the driver is not gripping the steering wheel SW (hands off). In this case, the ECU 10 sets the hands-on flag HF to "0". On the other hand, when the torque value τs exceeds the threshold value τsth, the ECU 10 determines that the driver is gripping the steering wheel SW (hands on). In this case, the ECU 10 sets the hands-on flag HF to "1". In response to a request from an ECU of a driving assistance device (hereinafter referred to as "ADTJA-ECU"), the ECU 10 provides the hands-on flag HF (a value assigned to the hands-on flag HF) to the ADTJA-ECU. For example, when the hands-off condition is no longer satisfied in the hands-off state (for example, when the driver is not paying attention to the road ahead or is unable to recognize lane marks), the ADTJA-ECU acquires the value of the hands-on flag HF from the hands-on determination device 1 at a predetermined cycle. When the hands-on flag HF acquired from the hands-on determination device 1 is "0", the ADTJA-ECU controls an alarm device mounted on the vehicle so that predetermined information (hands-on warning) is presented to the driver.

[0023] Here, the ECU 10 determines the torque value to be assigned to the threshold value τsth as follows.

[0024] The ECU 10 judges whether or not the posture of the body of the host vehicle is deviated (pitching and / or rolling) based on the information acquired from the acceleration sensor 21. Specifically, when the absolute value of the acceleration αx is equal to or less than the threshold value αxth and the absolute value of the acceleration αy is equal to or less than the threshold value αyth, the ECU 10 judges that the body of the host vehicle matches the reference posture (the posture of the body when the host vehicle is stopped on a level road surface). That is, in this case, the ECU 10 judges that the posture of the body of the host vehicle is not deviated (pitching and rolling). In this case, the ECU 10 assigns a predetermined standard torque value τ0 to the threshold value τsth.

[0025] On the other hand, when the absolute value of the acceleration αx exceeds the threshold αxth and / or when the absolute value of the acceleration αy exceeds the threshold αyth, the ECU 10 determines that the posture of the vehicle body is out of alignment. When the acceleration αx exceeds the threshold αxth and the acceleration αy is equal to or less than the threshold αyth, the ECU 10 assigns a torque value τ1 that is greater than the torque value τ0 to the threshold τsth. When the absolute value of the acceleration αx is equal to or less than the threshold αxth and the absolute value of the acceleration αy exceeds the threshold αyth, the ECU 10 assigns a torque value τ2 that is greater than the torque value τ0 to the threshold τsth. When the absolute value of the acceleration αx exceeds the threshold αxth and the absolute value of the acceleration αy exceeds the threshold αyth, the ECU 10 assigns a torque value τ3 that is greater than the torque value τ0 to the threshold τsth. Here, the torque values ​​τ1, τ2, and τ3 are greater than the following torque value τa and smaller than the following torque value τb. Torque value τa: The maximum torque applied to the steering wheel SW due to the posture of the vehicle body being decelerated and / or turned automatically by the ADTJA function in the hands-off state. Torque value τb: Torque value applied to the steering wheel SW when the driver lightly grips the steering wheel SW The torque values ​​τa and τb are experimentally determined. The magnitude relationship between the torque values ​​τ1, τ2, and τ3 can be set arbitrarily (for example, according to the pitch stiffness and roll stiffness of the vehicle (model)). The torque values ​​τ0, τ1, τ2, and τ3 may be fixed values, or the torque values ​​τ0 and τ1 may be adjustable by the user.

[0026] Next, referring to Figures 2 and 3, an operation example (changes in threshold value τsth and hands-on flag HF) of the hands-on determination device 1 in a scene where the ADTJA function is enabled and the hands-off condition is not satisfied (a scene where the driver must hold the steering wheel SW) will be described. Note that no rolling occurs in the body of the host vehicle (αy≦αyth) throughout the entire period of these examples.

[0027] (Example 1) As shown in FIG. 2, in the operation example 1, for example, the host vehicle is automatically braked (ADTJA function) because the distance between the host vehicle and the preceding vehicle becomes equal to or less than a threshold value. At time t0, the driver is not gripping the steering wheel SW. Also, at time t0, the absolute value of the acceleration αx (hereinafter simply referred to as "acceleration αx") is equal to or less than the threshold value αxth. Therefore, at time t0, the ECU 10 determines that the posture collapse of the host vehicle body (nose dive) is not occurring, and assigns the torque value τ0 to the threshold value τsth.

[0028] Also, at the time t0, the steering wheel SW is not gripped (hands off) and the posture of the vehicle body of the vehicle is not deformed (the posture is slightly deformed (αx≦αxth)), so the rotation angle position of the steering wheel SW is approximately equal to the neutral position, and the output value (torque value τs) of the steering sensor 22 is equal to or less than the threshold value τsth (=τs0). Therefore, the ECU 10 determines that the driver is not gripping the steering wheel SW (hands off). Therefore, in this case, the ECU 10 sets the hands-on flag HF to "0". In this case, the ADTJA-ECU causes the notification device to execute a predetermined hands-on warning. As a hands-on warning, the notification device presents an image, a sound, or the like to prompt the driver to grip the steering wheel SW. More specifically, the notification device displays an image (icon) that resembles a steering wheel and plays the phrase "Please grip the steering wheel." When the notification device completes the reproduction of the phrase, it erases the image (icon) of the steering wheel that was being displayed.

[0029] As described above, at time t0, information (image and sound) is presented to the driver to prompt him / her to grip the steering wheel SW, but the driver does not grip the steering wheel SW and the vehicle proceeds. That is, during the period T1 from time t0 to the following time t1, the driver does not grip the steering wheel (hands off). Also, during the period T1, the posture of the vehicle body of the vehicle does not collapse (the posture collapse is minor). Therefore, the rotation angle position of the steering wheel SW is approximately equal to the neutral position. Therefore, the output value (torque value τs) of the steering sensor 22 is equal to or less than the threshold value τsth (= τ0). Therefore, during the period T1, the ECU 10 sets the hands-on flag HF to "0".

[0030] The acceleration αx increases from a point in time shortly before time t1, and at time t1, the acceleration αx exceeds the threshold value αxth. Then, in the period after time t1, the acceleration αx is maintained at a value slightly larger than the threshold value αxth. At time t1, the ECU 10 determines that the posture of the vehicle body of the host vehicle has collapsed, and assigns a torque value τ1 (>τ0) to the threshold value τsth. That is, the ECU 10 increases the threshold value τsth at time t1. Also, at this time t1, the driver has not yet grasped the steering wheel SW. Therefore, due to the above-mentioned collapse of the vehicle body of the host vehicle, the steering wheel SW rotates slightly (starts to swing), and the output value (torque value τs) of the steering sensor 22 increases. Note that the torque value τs increases with a slight delay with respect to the progress of the above-mentioned collapse of the posture (increase in the acceleration αx), and reaches the torque value τa at time t2, which is slightly after time t1. The torque value τs increases and exceeds the torque value τ0 (the value assigned to the threshold value τsth in the period T1), but at that time (a time point between time points t1 and t2), the value assigned to the threshold value τsth has already been raised from the torque value τ0 to the torque value τ1. Therefore, in the period T2 from time point t1 to time point t2, the torque value τs is equal to or less than the threshold value τsth. Therefore, the ECU 10 determines that the driver is not gripping the steering wheel SW in the period T2. Therefore, the hands-on flag HF is maintained at "0" in the period T2 following the period T1.

[0031] During a period T3 from time t2 to the subsequent time t3, the driver does not grip the steering wheel SW (hands off), and the vehicle body posture collapses (nose dive) and continues to occur. Therefore, during the period T3, the rotation angle position of the steering wheel SW is the same as the rotation angle position at time t2. Therefore, the torque value τs (= τa) is equal to or less than the threshold value τsth (= τs1). Therefore, the hands-on flag HF is maintained at "0" during the period T3, following the period T2.

[0032] At time t3, the driver grips the steering wheel SW. This causes the torque value τs to increase and exceed the threshold value τsth (= τ1) at time t4, and then reach the torque value τb. During the period T4 from time t3 to time t4, the torque value τs is equal to or less than the threshold value τsth, so the ECU 10 sets the hands-on flag HF to "0" during that period T4. During the period T5 after time t4, the driver grips the steering wheel SW, and the state in which the torque value τs (= τb) exceeds the threshold value τsth (= τ1) (τb > τsth) is maintained. Therefore, the ECU 10 sets the hands-on flag HF to "1" during the period T5.

[0033] (Example 2) The vehicle is automatically braked (ADTJA function) throughout the entire period in the operation example 2 shown in FIG. 3. As in the operation example 1, in the period T1, the driver does not grip the steering wheel SW, and the posture of the vehicle body does not collapse. Therefore, in the period T1, the torque value τ0 is assigned to the threshold value τsth, and the torque value τs is equal to or less than the threshold value τsth. Therefore, the ECU 10 sets the hands-on flag HF to "0" in the period T1.

[0034] At time t1, the driver grips the steering wheel SW. That is, unlike the operation example 1, the driver grips the steering wheel SW in a state where the posture of the vehicle body of the vehicle is not deformed (a state where the torque value τ0 is assigned to the threshold value τsth). As a result, the torque value τs increases, exceeds the threshold value τsth (= τ0) at time t2, and then reaches the torque value τb. In the period T2 from time t1 to time t2, the torque value τs is equal to or less than the threshold value τsth, so that the ECU 10 sets the hands-on flag HF to "0" in the period T2. In the period T3 after time t2, the driver grips the steering wheel SW, and the state where the torque value τs exceeds the threshold value τsth (= τ0) is maintained. Therefore, the ECU 10 sets the hands-on flag HF to "1" in the period T3.

[0035] The above operation example is an example assuming a scene in which the vehicle is decelerating (i.e., a scene in which the direction of acceleration αx is opposite to the direction of travel of the vehicle), but even in a scene in which the vehicle is accelerating, ECU 10 compares the absolute value of acceleration αx with threshold value αxth, as in the above operation example, and sets the hands-on flag HF according to the result.

[0036] Next, with reference to FIG. 4, a program PR1 executed by the CPU 10a (hereinafter simply referred to as "CPU") of the ECU 10 to realize the above-mentioned hands-on determination process will be described.

[0037] The CPU starts the execution of the program PR1 at a predetermined cycle while the ADTJA function is enabled. The CPU starts the execution of the program PR1 from step 100 and proceeds to step 101.

[0038] In step 101, the CPU acquires acceleration αx from the acceleration sensor 21 and determines whether or not the absolute value of the acceleration αx exceeds a threshold value αxth. If the CPU determines that the absolute value of the acceleration αx exceeds the threshold value αxth (101: Yes), the CPU proceeds to step 102. On the other hand, if the CPU does not determine that the absolute value of the acceleration αx exceeds the threshold value αxth (101: No), the CPU proceeds to step 103.

[0039] In step 102, the CPU acquires acceleration αy from the acceleration sensor 21, and determines whether or not the absolute value of the acceleration αy exceeds a threshold value αyth. If the CPU determines that the absolute value of the acceleration αy exceeds the threshold value αyth (102: Yes), the CPU proceeds to step 107. On the other hand, if the CPU does not determine that the absolute value of the acceleration αy exceeds the threshold value αyth (102: No), the CPU proceeds to step 105.

[0040] In step 103, the CPU acquires acceleration αy from the acceleration sensor 21 and determines whether or not the absolute value of the acceleration αy exceeds a threshold value αyth. If the CPU determines that the absolute value of the acceleration αy exceeds the threshold value αyth (103: Yes), the CPU proceeds to step 106. On the other hand, if the CPU does not determine that the absolute value of the acceleration αy exceeds the threshold value αyth (103: No), the CPU proceeds to step 104.

[0041] In step 104, the CPU assigns a torque value τ0 to the threshold value τsth. In step 105, the CPU assigns a torque value τ1 to the threshold value τsth. In step 106, the CPU assigns a torque value τ2 to the threshold value τsth. In step 107, the CPU assigns a torque value τ3 to the threshold value τsth. Next, the CPU proceeds to step 108.

[0042] In step 108, the CPU acquires the torque value τs from the steering sensor 22, and determines whether the torque value τs exceeds the threshold value τsth. If the CPU determines that the torque value τs exceeds the threshold value τsth (108: Yes), the CPU proceeds to step 109. On the other hand, if the CPU does not determine that the torque value τs exceeds the threshold value τsth (108: No), the CPU proceeds to step 110.

[0043] In step 109, the CPU sets the hands-on flag HF to "1." Next, the CPU proceeds to step 111, where it ends the execution of the program PR1.

[0044] The CPU sets the hands-on flag HF to "0" in step 110. Next, the CPU proceeds to step 111, where it ends the execution of the program PR1.

[0045] (effect) As described above, a scene (specific scene) is assumed in which the output value (torque value τs) of the steering sensor 22 increases due to a slight rotation of the steering wheel SW caused by the body posture being deformed when the driver is not gripping the steering wheel SW. According to the hands-on determination device 1, when the body posture of the vehicle differs from the reference posture (when the body posture is deformed (for example, the operation example 1 shown in FIG. 2)), the threshold value τsth is raised from the standard torque value τ0 to a larger torque value τ1. Therefore, in the specific scene, the output value of the steering sensor 22 is less likely to exceed the threshold value τsth compared to when the threshold value τsth is not raised. Therefore, in the specific scene, it is suppressed that the driver is gripping the steering wheel SW even though the driver is not gripping the steering wheel SW (erroneous determination).

[0046] On the other hand, when the posture of the vehicle body of the vehicle is not deformed (for example, in the operation example 2 shown in FIG. 3), the threshold value τsth is maintained at the standard torque value τ0 (the threshold value τsth is not raised). Therefore, when the driver grips the steering wheel SW, the output value (torque value τs) of the steering sensor 22 is likely to exceed the threshold value τsth. This prevents the driver from being judged as not gripping the steering wheel SW when in fact the driver is gripping the steering wheel SW (erroneous judgment).

[0047] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention, as described below.

[0048] <Variation 1> The on-vehicle sensor 20 may include a camera 23 as a sensor for detecting the attitude of the vehicle. The camera 23 includes an imaging device and an image analysis device. The imaging device has, for example, a built-in CCD. The imaging device is installed in the front of the vehicle and faces the front of the vehicle. Each imaging device captures a predetermined area in front of the vehicle at a predetermined frame rate to obtain image data. The image analysis device analyzes the image data obtained from the imaging device and recognizes targets existing around the vehicle from the image. For example, the image analysis device recognizes other vehicles, poles, lane marks (division lines of the driving lane), etc. located immediately in front of the vehicle. The image analysis device provides the recognition result to the ECU 10.

[0049] The ECU 10 may determine whether or not the posture of the vehicle body has collapsed based on the recognition result of the image G acquired from the camera 23 instead of (or in addition to) the acceleration αx and the acceleration αy. For example, the ECU 10 acquires the recognition result of the image G from the camera 23 at a predetermined period. Then, the ECU 10 determines whether or not pitching has occurred on the vehicle body based on a change in the distance (interval) between the left and right demarcation lines reflected in these multiple images G (time-series data). For example, the ECU 10 determines that nose dive has occurred on the vehicle body of the vehicle when the distance between the demarcation lines in the images increases and the amount of change exceeds a threshold value. Also, for example, the ECU 10 determines that rolling has occurred on the vehicle body of the vehicle when the angle between the extension direction in the image G of a pole (usually an object extending vertically) reflected in the multiple images G (time-series data) and the vertical axis of the image G increases and exceeds a threshold value.

[0050] <Variation 2> The on-vehicle sensor 20 may include a yaw rate sensor 24 as a sensor for detecting the attitude of the host vehicle. The yaw rate sensor 24 detects a yaw rate YR, which is a rate of change of the yaw angle of the host vehicle, and provides the yaw rate YR to the ECU 10. When the yaw rate YR exceeds a threshold YRth, the ECU 10 determines that the body of the host vehicle is rolling. [Explanation of symbols]

[0051] 1...Steering wheel hands-on determination device, 10...ECU, 20...In-vehicle sensor

Claims

1. an on-vehicle sensor including a steering sensor for detecting a torque applied to a steering wheel; a processor that determines that the driver is in a hands-on state where the driver is gripping the steering wheel when the torque exceeds a torque threshold; A hands-on determination device for a steering wheel comprising: the on-board sensor includes an attitude sensor for acquiring information regarding an attitude of a body of the host vehicle; The processor, based on the information obtained from the attitude sensor, When it is determined that the current posture of the vehicle body is a predetermined reference posture and coincides with the posture of the host vehicle when the host vehicle is stopped on a level road surface, a predetermined standard value is assigned to the torque threshold value; when it is determined that the current attitude of the vehicle body is different from the reference attitude, a predetermined value larger than the standard value is assigned to the torque threshold value. A hands-on judgment device for a steering wheel configured as described above.

2. 2. The steering wheel hands-on determination device according to claim 1, A steering wheel hands-on determination device, wherein the processor assigns a predetermined first torque value to the torque threshold when it detects that pitching is occurring in the vehicle body.

3. 3. The steering wheel hands-on determination device according to claim 1, The processor is a steering wheel hands-on determination device that assigns a second torque value to the torque threshold when it detects that rolling is occurring in the vehicle body.

4. a torque detection step of detecting a torque applied to a steering wheel; a determining step of determining that the driver is in a hands-on state where the driver is gripping the steering wheel when the torque exceeds a torque threshold value; A steering wheel hands-on determination method including: A posture information acquisition step of acquiring information regarding a posture of a body of a host vehicle, The determining step is based on the information acquired in the posture information acquiring step, When it is determined that the current posture of the vehicle body is a predetermined reference posture and coincides with the posture of the host vehicle when the host vehicle is stopped on a level road surface, a predetermined standard value is assigned to the torque threshold value; when it is determined that the current attitude of the vehicle body is different from the reference attitude, a predetermined value larger than the standard value is assigned to the torque threshold value. A method for determining whether a steering wheel is on, the method including a threshold setting step.

5. The computer of the vehicle a torque detection step of detecting a torque applied to a steering wheel; a determining step of determining that the driver is in a hands-on state where the driver is gripping the steering wheel when the torque exceeds a torque threshold value; A hands-on judgment program for executing The determination step includes a posture information acquisition step of acquiring information regarding a posture of a body of the host vehicle, The determining step is based on the information acquired in the posture information acquiring step, When it is determined that the current posture of the vehicle body is a predetermined reference posture and coincides with the posture of the host vehicle when the host vehicle is stopped on a level road surface, a predetermined standard value is assigned to the torque threshold value; when it is determined that the current attitude of the vehicle body is different from the reference attitude, a predetermined value larger than the standard value is assigned to the torque threshold value. A steering wheel hands-on judgment program configured to include a threshold setting step.

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