CN109901562A - A kind of driver's intervention recognition methods for vehicle driving model switching - Google Patents
A kind of driver's intervention recognition methods for vehicle driving model switching Download PDFInfo
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- CN109901562A CN109901562A CN201711282518.9A CN201711282518A CN109901562A CN 109901562 A CN109901562 A CN 109901562A CN 201711282518 A CN201711282518 A CN 201711282518A CN 109901562 A CN109901562 A CN 109901562A
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Abstract
The present invention relates to a kind of drivers for vehicle driving model switching to intervene recognition methods, the following steps are included: step 1: steering wheel torque signal carries out level of torque judgement, if it is greater than preset torque threshold, then system directly determines that driver just holds steering wheel, then carries out the resolving of driver's hand-power；Utilize the spectrum signature of fast Fourier transform analysis vibrational system dtc signal；Step 3: driver's hand-power, which calculates, is intended to calculate the respective tangential force at right-hand man's gripping steering wheel of steering wheel plane and the resultant radial force at left hand and right hand gripping steering wheel, amounts to 3 variables.The present invention can overcome in the prior art that robustness is poor, needs to increase the disadvantages of additional hardware product.
Description
Technical field
The invention belongs to unmanned technical field more particularly to a kind of driver Jie for vehicle driving model switching
Enter recognition methods.
Background technique
Vehicle driving-cycle is accurately identified or road since current unmanned technology can not fully achieve
On be in an emergency, the intervention of driver is with regard to particularly significant.Current unmanned technology generally has automatic Pilot and drives
The person of sailing drives both of which, and how to carry out the judgement that driver's intervention is intended to just seems particularly significant.In specific traffic environment
Under, driving behavior has certain regularity.Driving intention is self heart state of driver, can not be straight in driving procedure
It obtains and takes, can only speculate by collateral informations such as movement, posture and the vehicle-states of driver in driving procedure.It is simple next
It says, driving intention determines that driving behavior, driving behavior realize driving intention.Current main method of discrimination is, according to driving
The turn signal open state of member, eyeball moving track, the information such as functional magnetic resonance imaging (fMRI) figure judge Jie of driver
Enter to be intended to.This patent is caused when being intervened using driver based on the steering wheel torque sensor generally having on current vehicle
The variation of dtc signal Frequency Response is simultaneously centainly judged in conjunction with preset torque threshold.In certain time window, torque letter
When number meeting preset torque or spectrum signature, algorithm makes the judgement of driver's intervention, for vehicle automatic Pilot and drives
The pattern switching that the person of sailing drives.
Existing technology one side robustness is poor, such as is identified using full-vehicle steering lamp open state, driver
It is likely to forget to turn on turn signal or in case of emergency goes to open turn signal without the time.On the other hand, the prior art needs
It to be added in existing vehicle configuration newly, will increase the cost and difficulty of matching of vehicle in this way, such as according to eye movement shape
State identification driver, which turns to, to be intended to need to increase additional camera to capture the motion state of driver's eyeball.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide it is a kind of can overcome in the prior art robustness compared with
Difference, the driver for vehicle driving model switching for needing to increase the disadvantages of additional hardware product intervene recognition methods.
The present invention solves its technical problem and adopts the following technical solutions to achieve:
A kind of driver's intervention recognition methods for vehicle driving model switching, comprising the following steps:
Step 1: the extraction of data prediction and characteristic parameter；
Level of torque judgement is carried out to the steering wheel torque signal in certain time window, if it is greater than preset torque threshold
Value, then system directly determines that driver just holds steering wheel, then carries out the resolving of driver's hand-power；If torque is less than or waits
In preset torque threshold, then step 2 is carried out；
Step 2: the spectrum signature of fast Fourier transform analysis vibrational system dtc signal is utilized；
If system, under predeterminated frequency, amplitude is more than preset Frequency Response threshold value, then system is determining driver
Steering wheel is held, the resolving of driver's hand-power is then carried out；If system is no more than preset Frequency Response under predeterminated frequency
Threshold value, then system determines driver just in off-direction disk；The judgement result of step 2 is driver's gripping/off-direction disk
It is final to determine result；
Step 3: the calculating of driver's hand-power is intended to calculate respective at right-hand man's gripping steering wheel of steering wheel plane
Tangential force and left hand and right hand hold the resultant radial force at steering wheel, amount to 3 variables.
Further, the real vehicle data that the torque threshold and Frequency Response threshold value pass through that test obtains is identified.
Wherein, torque threshold and Frequency Response threshold value determination method are as follows:
After vehicle factor completes steering system matching, the test that driver holds steering wheel in various degree is carried out, tests item
Mesh suggestion is carried out according to following table 1:
1 driver of table holds steering wheel pilot project
Test data is divided into two groups, carries out spectrum analysis to first group of dtc signal is collected, is asked by adaptive algorithm
Obtain optimal torque threshold and the combination of Frequency Response threshold value；Second group drives for verifying torque threshold and Frequency Response in judgement
The accuracy rate that member's intervention is intended to.
The advantages and positive effects of the present invention are:
1, of the invention that the rotary inertia that steering wheel increases system, sound of the vibrational system in low-frequency range are held due to driver
Should can be more obvious, by analyzing the signal that acquires in real time, by the signal of certain time window in the amplitude of low-frequency range and default
Amplitude threshold compare, it can be deduced that whether driver holding/judgement of off-direction disk；
2, the present invention is based on the steering wheel torque sensor generally having on current vehicle, cause when being intervened using driver
Dtc signal Frequency Response variation and centainly judged in conjunction with preset torque threshold.In certain time window, torque
When signal meets preset torque or spectrum signature, algorithm makes the judgement of driver's intervention, for vehicle automatic Pilot and
Driver-operated pattern switching.
Detailed description of the invention
Technical solution of the present invention is described in further detail below with reference to drawings and examples, but should
Know, these attached drawings are designed for task of explanation, therefore not as the restriction of the scope of the invention.In addition, except non-specifically
It points out, these attached drawings are meant only to conceptually illustrate structure construction described herein, without to be drawn to scale.
Fig. 1 is algorithm logic structure chart provided in an embodiment of the present invention；
Fig. 2 is second order steering system provided in an embodiment of the present invention modeling；
Fig. 3 is that driver's hand-power provided in an embodiment of the present invention calculates analysis chart.
Specific embodiment
Firstly, it is necessary to which explanation, illustrates specific structure of the invention, feature and excellent for by way of example below
Point etc., however what all descriptions were intended merely to be illustrated, and should not be construed as to present invention formation any restrictions.This
Outside, any single technical characteristic for being described by or implying in each embodiment mentioned by this paper, or be shown or lie in
Any single technical characteristic in each attached drawing still can continue any group between these technical characteristics (or its equivalent)
It closes or deletes, to obtain the more other embodiments of the invention that may do not referred to directly herein.In addition, for simplification
For the sake of drawing, same or like technical characteristic may be indicated only at one in the same figure.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, in addition, term " includes " and " having " and their any deformation, it is intended that covering is not arranged
His includes, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to clearly
Those of list step or unit, but may include be not clearly listed or for these process, methods, product or equipment
Intrinsic other step or units.
In the description of the present invention, it should be noted that term " center ", "upper", "lower", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, or be somebody's turn to do
Invention product using when the orientation or positional relationship usually put, be merely for convenience of description of the present invention and simplification of the description, without
It is that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore not
It can be interpreted as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
Solution is indication or suggestion relative importance.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.
The present invention just is illustrated in conjunction with Fig. 1 to Fig. 3 below.
Fig. 1 is algorithm logic structure chart provided in an embodiment of the present invention；Fig. 2 is second order provided in an embodiment of the present invention steering
System modelling；Fig. 3 is that driver's hand-power provided in an embodiment of the present invention calculates analysis chart；As shown in Figures 1 to 3, the present embodiment mentions
A kind of driver for vehicle driving model switching supplied intervenes recognition methods, comprising the following steps:
Step 1: the extraction of data prediction and characteristic parameter；
Level of torque judgement is carried out to the steering wheel torque signal in certain time window, if it is greater than preset torque threshold
Value, then system directly determines that driver just holds steering wheel, then carries out the resolving of driver's hand-power；If torque is less than or waits
In preset torque threshold, then step 2 is carried out；
Step 2: the spectrum signature of fast Fourier transform analysis vibrational system dtc signal is utilized；
If system, under predeterminated frequency, amplitude is more than preset Frequency Response threshold value, then system is determining driver
Steering wheel is held, the resolving of driver's hand-power is then carried out；If system is no more than preset Frequency Response under predeterminated frequency
Threshold value, then system determines driver just in off-direction disk；The judgement result of step 2 is driver's gripping/off-direction disk
It is final to determine result；
Step 3: the calculating of driver's hand-power is intended to calculate respective at right-hand man's gripping steering wheel of steering wheel plane
Tangential force and left hand and right hand hold the resultant radial force at steering wheel, amount to 3 variables.
Further, the real vehicle data that the torque threshold and Frequency Response threshold value pass through that test obtains is identified.
Wherein, torque threshold and Frequency Response threshold value determination method are as follows:
After vehicle factor completes steering system matching, the test that driver holds steering wheel in various degree is carried out, tests item
Mesh suggestion is carried out according to following table 1:
1 driver of table holds steering wheel pilot project
Test data is divided into two groups, carries out spectrum analysis to first group of dtc signal is collected, is asked by adaptive algorithm
Obtain optimal torque threshold and the combination of Frequency Response threshold value；Second group drives for verifying torque threshold and Frequency Response in judgement
The accuracy rate that member's intervention is intended to.
Steering system in Fig. 2 is converted into standard single-degree-of-freedom second order vibration system model, related letter is replaced,
Vibration equation can be obtained to be shown below,
Ignore driver's hand and hold steering wheel and brings the equivalent damping of vibrational system, then by above formula abbreviation,
Wherein,
δ: steering wheel torque, vibrational system output variable.
Istr: rotary inertia of steering wheel can be provided by vehicle factor, it is known that.
Idrv: it is unknown since driver's hand is put on the steering wheel to the increased rotary inertia of vibrational system.
cstr: it is unknown a small amount of since driver's hand holds steering wheel bring equivalent damping.
ktor_sen: torque sensor rigidity can be provided by supplier, it is known that.
θroad: pavement state is motivated by the angular displacement that steering system passes to vibrational system, it is assumed that is white Gaussian noise
Signal, it is known that.
θeng_vib: the vibration (vibration in the environment as caused by engine luggine) of ambient enviroment is to steering system vibration
Disturbance, it is unknown a small amount of.
θtotal: θroad、θeng_vibSummation.
Only one unknown quantity I in vibrational systemdrv。
Since driver holds the rotary inertia that steering wheel increases system, vibrational system can more in the response of low-frequency range
Obviously, by analyzing the signal that acquires in real time, by the signal of certain time window low-frequency range amplitude and preset amplitude threshold
Value compares, it can be deduced that and whether driver holding/judgement of off-direction disk.
Fig. 3 indicates that driver's hand-power calculates analysis chart, from analysis chart:
Steering wheel angle sensor feedback torque signal M'z, force sensor signals feedback F'x, F'y, then according to the following formula
(3) driver's left hand tangential force F can be calculatedyl, right hand tangential force Fyr, the resultant force F of right-hand man's radial directionx。
In conclusion can overcome in the prior art that robustness is poor, needs to increase additional hardware the present invention can provide a kind of
The driver for vehicle driving model switching of the disadvantages of product intervenes recognition methods.
Above embodiments describe the invention in detail, but content is only the preferred embodiment of the present invention, no
It can be believed to be used to limit the scope of the invention.Any changes and modifications in accordance with the scope of the present application,
It should still fall within the scope of the patent of the present invention.
Claims (2)
1. a kind of driver for vehicle driving model switching intervenes recognition methods, it is characterised in that: the following steps are included:
Step 1: the extraction of data prediction and characteristic parameter；
Level of torque judgement is carried out to the steering wheel torque signal in certain time window, if it is greater than preset torque threshold,
Then system directly determines that driver just holds steering wheel, then carries out the resolving of driver's hand-power；If torque is less than or equal to
Preset torque threshold then carries out step 2；
Step 2: the spectrum signature of fast Fourier transform analysis vibrational system dtc signal is utilized；
If system, under predeterminated frequency, amplitude is more than preset Frequency Response threshold value, then system determines that driver is holding
Then steering wheel carries out the resolving of driver's hand-power；If system is no more than preset Frequency Response threshold value under predeterminated frequency,
Then system determines driver just in off-direction disk；The judgement result of step 2 is final for driver's gripping/off-direction disk
Determine result；
Step 3: the calculating of driver's hand-power is intended to calculate respective tangential at right-hand man's gripping steering wheel of steering wheel plane
Power and left hand and right hand hold the resultant radial force at steering wheel, amount to 3 variables.
2. a kind of driver for vehicle driving model switching according to claim 1 intervenes recognition methods, feature
Be: the torque threshold and Frequency Response threshold value pass through the real vehicle data that test obtains and are identified.
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| CN110341787A (en) * | 2019-07-16 | 2019-10-18 | 上海高爱特汽车电子股份有限公司 | A kind of switching method of the vehicle drive mode based on EPS |
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| CN111674397A (en) * | 2020-06-15 | 2020-09-18 | 中国第一汽车股份有限公司 | Method and device for detecting hands-off state of steering wheel of vehicle and vehicle-mounted equipment |
| CN112231914A (en) * | 2020-10-16 | 2021-01-15 | 清华大学 | Driver intervention identification method based on robust observer |
| CN112407038A (en) * | 2020-11-25 | 2021-02-26 | 东风汽车有限公司 | Control method of electronic power steering system, storage medium, and electronic device |
| CN112406699A (en) * | 2019-08-22 | 2021-02-26 | 上海汽车集团股份有限公司 | Detection method for hand-off steering wheel, electronic control unit and detection system |
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| CN112406699A (en) * | 2019-08-22 | 2021-02-26 | 上海汽车集团股份有限公司 | Detection method for hand-off steering wheel, electronic control unit and detection system |
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