CN111845764B - Method, device and equipment for detecting hand-off and storage medium - Google Patents
Method, device and equipment for detecting hand-off and storage medium Download PDFInfo
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- CN111845764B CN111845764B CN202010553151.5A CN202010553151A CN111845764B CN 111845764 B CN111845764 B CN 111845764B CN 202010553151 A CN202010553151 A CN 202010553151A CN 111845764 B CN111845764 B CN 111845764B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
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- B60W2510/202—Steering torque
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Abstract
The invention discloses a hand-off detection method, which comprises the following steps: acquiring torque change information of a steering system; judging whether to calculate the hands-off confidence level according to the torque change information, wherein the hands-off confidence level refers to the credibility of the driver to hands-off the steering wheel; if the hands-off confidence coefficient is calculated, calculating the hands-off confidence coefficient according to the torque change information, the preset hands-off threshold partitions and the preset hands-off duration corresponding to each hands-off threshold partition; and within a first preset time, if the hands-off confidence coefficient is greater than a first preset value, judging that the driver hands off the steering wheel. Correspondingly, a takeover confidence coefficient and transition region calculation method is also provided. The invention also discloses a device, equipment and a storage medium for detecting the hand-off. By adopting the invention, the driver can be reminded to take over the steering wheel as soon as possible according to the actual condition of the vehicle; the device can also meet the detection requirements of a plurality of vehicles, and has wide application range; the problems of missing judgment, misjudgment and the like of the driver caused by the driver falling out of hand can be avoided, the driver is timely reminded, and the intelligent driving base is used.
Description
Technical Field
The invention relates to the field of vehicle driving, in particular to a hands-off detection method, a hands-off detection device, hands-off detection equipment and a storage medium.
Background
In the existing driver hands-off monitoring technology, the fact that a driver hands off is judged by using the magnitude and duration of residual torque of a steering system torque sensor when the driver hands off a steering wheel. As shown in fig. 14, the sensor torque threshold value at the time of the driver's hands-off test is usually set to a certain fixed value as a threshold value, and when the actual torque is lower than the threshold value and reaches a certain time, the driver is considered to be hands-off, and the threshold value is set based on the residual torque caused by the existence of the friction force of the upper end pipe column of the torque sensor in the steering system. However, due to differences in manufacturing of parts, friction forces of pipe columns of different vehicles of the same vehicle type are different, and residual torques of steering pipe columns of the same vehicle are different in a hands-off state of different drivers (i.e., whether torsion bars of the torque sensor are distorted and deformed, the deformation magnitude and the like) (i.e., the residual torque of the sensor is not greater than the pipe column friction force), which causes the fixed value setting of the torque threshold value of the hands-off sensor to affect the reliability and timeliness of monitoring. Specifically, when the threshold value is set to be too low, a Hand-off missing judgment (in a vehicle with a high friction pipe column, the residual torque when a driver takes off the Hand is larger and higher than the Hand-off threshold value at some time, so that the actual Hand-off missing judgment is Hand-On), the system cannot remind timely, and the risk of missing safe driving is caused; when the threshold value is set to be too high, misjudgment of 'Hands-Off' can be caused (the torque of the sensor is smaller and lower than the Hands-Off threshold value when the friction force of the pipe column is low, the actual Hand-On is small, and the Hand force is extremely small, so that misjudgment is called Hand-Off), the system is frequently reminded, and complaints and distraction of drivers are caused; also, when the system resistance is near the threshold, the HOD may not be determined or the Hand-on/off status prediction may be repeated. Even if the threshold value is set to be just the friction of a certain pipe string, in most cases, the residual torque of the sensor is still lower than the friction of the pipe string, and the driver should be judged to be out of hand earlier, but the existing fixed duration setting strategy cannot realize the adaptive judgment.
Disclosure of Invention
In order to solve the above technical problem, in a first aspect, the present invention discloses a hands-off detection method, including:
acquiring torque change information of a steering system, wherein the torque change information comprises the size change information of a torque value of the steering system along with time;
judging whether to calculate a hands-off confidence level according to the torque change information, wherein the hands-off confidence level refers to the credibility of a driver hands-off steering wheel;
if the hands-off confidence coefficient is calculated, calculating the hands-off confidence coefficient according to the torque change information, preset hands-off threshold partitions and preset hands-off duration corresponding to each hands-off threshold partition;
and if the hands-off confidence coefficient is greater than a first preset value within a first preset time, judging that the driver hands off the steering wheel.
Further, the determining whether to calculate a hands-off confidence level according to the torque variation information, where the hands-off confidence level is a confidence level of the driver's hands-off steering wheel, includes:
and if the torque value of the steering system is not greater than the maximum torque threshold value in the hands-off threshold value partition, calculating the hands-off confidence level.
Further, the calculating the hands-off confidence of the driver according to the torque change information, preset hands-off threshold partitions and preset hands-off duration corresponding to each of the hands-off threshold partitions includes:
calculating actual torque duration corresponding to each hands-off threshold partition according to the torque change information and the hands-off threshold partition;
calculating the ratio of the hands-off duration according to the actual torque duration and the corresponding preset hands-off duration;
and calculating the hands-off confidence coefficient according to the hands-off duration ratio.
Further, the hands-off detection method further includes:
calculating the actual hands-off duration of a torque value in the torque change information in a certain hands-off threshold partition according to the torque change information and the hands-off threshold partition;
and if the actual hands-off duration is not less than the corresponding preset hands-off duration, judging that the driver hands off the steering wheel.
Further, the hands-off detection method further includes:
judging whether to calculate a takeover confidence coefficient according to the torque change information, wherein the takeover confidence coefficient is the credibility of the driver for taking over the steering wheel;
if the takeover confidence coefficient is calculated, calculating the takeover confidence coefficient according to the torque change information, the preset takeover torque and the corresponding preset takeover duration,
within a second preset time, if the takeover confidence coefficient is greater than a second preset value, judging that the driver takes over the steering wheel;
wherein the takeover torque is greater than a maximum torque threshold in the hands-off threshold zone.
Further, the hand-off detection method further includes: and if the torque value of the steering system is greater than the take-over torque, stopping calculating the hands-off confidence coefficient and returning to zero, and simultaneously starting to calculate the take-over confidence coefficient.
Further, the hands-off detection method further includes:
calculating the actual takeover duration of the torque value in the torque change information not less than the takeover torque according to the torque change information and the takeover torque;
and if the actual takeover duration is not less than the preset takeover duration, judging that the driver takes over the steering wheel.
Further, the hands-off detection method further includes:
and if the torque value in the torque change information is larger than the maximum torque threshold and smaller than the take-over torque, judging the state of the driver according to the hands-off confidence level and the take-over confidence level.
In a second aspect, the present invention provides a hands-off detection device comprising:
the torque change acquisition module is used for acquiring torque change information of a steering system, wherein the torque change information comprises the change information of the torque value of the steering system along with the time;
the confidence judgment module is used for judging whether to calculate the hands-off confidence according to the torque change information, wherein the hands-off confidence is the credibility of the driver to take off the hand of the steering wheel;
the hands-off confidence coefficient calculation module is used for calculating the hands-off confidence coefficient according to the torque change information, preset hands-off threshold partitions and preset hands-off duration corresponding to each hands-off threshold partition if the hands-off confidence coefficient is calculated;
and the hands-off judgment module is used for judging that the driver hands off the steering wheel if the hands-off confidence coefficient is greater than a first preset value within a first preset time.
In a third aspect, the present invention provides a hands-off detection apparatus comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the hands-off detection method as described in any one of the above.
In a fourth aspect, the present invention provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the hands-off detection method as described in any one of the above.
By adopting the technical scheme, the invention has the following beneficial effects: the driver can be reminded to take over the steering wheel as soon as possible according to the actual condition of the vehicle; the detection requirements of vehicles with different tubular column friction forces can be met, and the application range is wide; the problems of missed judgment, misjudgment and the like caused by the fact that the driver is out of hand can also be avoided, the driver is timely reminded, and the intelligent driving is based on the method.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of a hands-off detection method (hands-off detection) according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a hands-off confidence calculation method (hands-off state detection) according to an embodiment of the present invention;
fig. 3 is a schematic flow chart of a hands-off detection method (hands-off detection) according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a hands-off detection method (take-over state monitoring) according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of a hands-off detection method (take-over state monitoring) according to an embodiment of the present invention;
fig. 6 is a schematic flow chart of a hands-off detection method according to an embodiment of the present invention;
fig. 7 is a schematic flow chart of a hands-off detection method (transition region monitoring) according to an embodiment of the present invention;
FIG. 8 is a torque curve and plot of a steering system according to an embodiment of the present invention;
FIG. 9 is a chart of confidence level calculation according to an embodiment of the present invention;
fig. 10 is a graph (hands-off/take-over/no judgment) of the correspondence between the confidence level and the driver status according to the embodiment of the present invention;
fig. 11 is a corresponding relationship diagram (hands-off/take-over/no judgment) between the confidence level and the driver state according to the embodiment of the present invention;
fig. 12 is a schematic structural diagram of a hands-off detection device according to an embodiment of the present invention;
FIG. 13 is a schematic diagram of a torque sensor according to an embodiment of the present invention;
fig. 14 illustrates a prior art hands-off detection method.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be apparent that the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, shall fall within the scope of protection of the present invention.
Reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic may be included in at least one implementation of the invention. In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Moreover, the terms "first," "second," and the like are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein.
The embodiment is as follows:
the invention provides a hands-off detection method which can be applied to the hands-off detection of a vehicle steering wheel so as to improve the safety of vehicle active driving. As shown in fig. 1, the hands-off detection method may include the steps of:
s100: acquiring torque change information of a steering system, wherein the torque change information comprises the size change information of a torque value of the steering system along with time.
In some possible embodiments, as shown in fig. 13, torque variation information of the steering system is detected by the torque sensor 2. In actual practice, the force from the upper end steering column 3 may be detected by the torque sensor torsion bar as torque variation information of the steering system. It can be understood that friction exists in the column of the steering system of the vehicle, but the magnitude of the friction of the column varies among vehicles. And under different hand-off conditions of the same vehicle, the deformation of a torsion bar of the sensor is different, and the influence of the friction force of the pipe column on the torque of the sensor is also different. Thus, when the driver hands off the steering wheel, the data detected by the torque sensor is actually the residual torque (less than the friction of the column on the vehicle) caused by the presence of friction in the steering column.
S200: and judging whether to calculate the hands-off confidence level according to the torque change information, wherein the hands-off confidence level refers to the confidence level of the driver in hands-off the steering wheel.
In some possible embodiments, the hands-off detection method further includes:
and if the torque value of the steering system is not larger than the maximum torque threshold value in the hands-off threshold value partition, starting to calculate the hands-off confidence coefficient.
In an implementation, for example, when the maximum torque threshold is 0.4Nm, the computation of the hands-off confidence level is started when the torque value of the steering system is detected to be 0.4 Nm.
And if the torque value of the steering system is continuously smaller than the maximum torque threshold value of the hands-off monitoring, continuously calculating the confidence coefficient of the hands-off.
S300: and calculating the hands-off confidence of the driver according to the torque change information, preset hands-off threshold partitions and preset hands-off duration corresponding to each hands-off threshold partition, wherein the hands-off confidence refers to the credibility of the steering wheel of the driver for hands-off.
It will be appreciated that the setting of the hands-off threshold is related to the rotational friction of the steering column. In particular implementations, the hands-off threshold may be determined based on a friction force of a steering column of the vehicle. The hands-off threshold may be set higher for vehicle designs with higher end column friction above the torque sensor (e.g., DP-EPS or BD-EPS), and lower for vehicles with lower end column friction above the torque sensor (e.g., C-EPS). In fact, the torque distribution condition of the sensors when the vehicles are out of hand can be collected, and the out-of-hand torque threshold value of the vehicle type can be set so as to adapt to more accurate and targeted monitoring.
In specific implementation, a preset release torque threshold value can be subjected to threshold partitioning, for example, the friction control range of a steering column is 0-0.4 Nm, the preset release torque threshold value can be partitioned into a first release threshold partition, and the corresponding range of the first release torque partition is 0-0.1 Nm; a second hands-off threshold partition, the corresponding range of which is 0.1-0.2 Nm; a third hands-off threshold partition, wherein the corresponding range of the third hands-off threshold partition is 0.2-0.3 Nm; and a fourth handoff threshold partition, the corresponding range of which is 0.3-0.4 Nm. And the preset hands-off duration corresponding to each partition can be set according to the value corresponding to each partition, for example, the hands-off duration of the partition with the larger value can be set to be larger, and the hands-off duration of the partition with the smaller value can be set to be smaller, so that a driver can be reminded to take over the steering wheel in time according to actual conditions. Specifically, for example, the preset duration of the hands-off of the first hands-off threshold partition (0 to 0.1Nm) may be set to 3 seconds; setting the preset release duration of the second release threshold partition (0.1-0.2 Nm) to be 4 seconds; setting the preset release duration of the third release threshold partition (0.2-0.3 Nm) to be 6 seconds; and setting the preset release duration of the fourth release threshold partition (0.3-0.4 Nm) to be 8 seconds.
In some possible embodiments, as shown in fig. 2, the calculation of the hands-off confidence may specifically include the following steps:
s311: and calculating the actual torque duration corresponding to each hands-off threshold partition according to the torque change information and the hands-off threshold partition.
In particular implementations, the torque of the vehicle steering system may vary over time. For example, as shown in fig. 8, the torque of the steering system is reduced from large to small over time, specifically, from the fourth handoff threshold partition (0.3 to 0.4Nm) to the third handoff threshold partition (0.3 to 0.2Nm), from the third handoff threshold partition (0.3 to 0.2Nm) to the second handoff threshold partition (0.2 to 0.1Nm), and from the second handoff threshold partition (0.2 to 0.1Nm) to the first handoff threshold partition (0.1 to 0 Nm); then, the torque of the steering system increases from large to small with time, specifically, from the first hands-off threshold value division (0-0.1 Nm) to the second hands-off threshold value division (0.1-0.2 Nm), from the second hands-off threshold value division (0.1-0.2 Nm) to the third hands-off threshold value division (0.2-0.3 Nm), and from the third hands-off threshold value division (0.2-0.3 Nm) to the fourth hands-off threshold value division (0.3-0.4 Nm). FIG. 7 shows a torque variation of the steering system over time, which may be implemented in practice to transition from any one of the hands-free threshold segments to another, such as from the third to the first, and then from the first to the second; or transitioning from the fourth handoff threshold segment to the first handoff threshold segment.
Further, the actual time period within each hands-off threshold segment may be calculated based on torque variation information of the steering system. For example, in fig. 8, the torque variation curve corresponding to the torque variation information is shown, and the duration of the torque variation curve in the fourth handoff threshold zone is Δ t41And Δ t42The duration in the third hands-off threshold partition is Δ t31And Δ t32The duration in the second hands-off threshold partition is Δ t21And Δ t22The duration in the first hands-off threshold partition is Δ t11。
S312: and calculating the ratio of the hands-off duration according to the actual torque duration and the corresponding preset hands-off duration.
In actual implementation, different hands-off duration lengths can be set for different hands-off threshold partitions, and the hands-off duration ratio corresponding to each hands-off threshold partition can be calculated according to the actual torque duration of each hands-off threshold partition and the corresponding preset hands-off duration length. For example, the ratio of the duration of hands-off to the fourth hands-off threshold partition is Δ t41/T4+Δt42/T4The ratio of the hands-off duration to the third hands-off threshold partition is Δ t31/T3+Δt32/T3The ratio of the hands-off duration to the second hands-off threshold partition is Δ t21/T2+Δt22/T2The ratio of the hands-off duration to the first hands-off threshold value zone is Δ t11/T1。
Wherein, the duration of the hands-off means: ideally, the torque of the torque sensor fluctuates only within this zone and for a certain time period the minimum time for the steering system to begin reporting driver hands-off information is expected.
S313: and calculating the hands-off confidence coefficient according to the hands-off duration ratio.
In practical implementation, the sum of the ratios of the hands-off durations can be used as the confidence of hands-off. The hands-off confidence level can also be calculated by the proportion of the hands-off duration in other manners, for example, corresponding weights are set for different partitions, and the hands-off confidence level is calculated by integrating the weights.
It should be noted that, when the sensor torque becomes greater than the maximum threshold of the hands-off test torque and smaller than the minimum threshold of the take-over test (this range is defined as the confidence calculation transition region) within the preset time period, the time ratio is negative, i.e., the initial confidence value starts to decrease. Stopping the hands-off confidence calculation when the sensor torque becomes not less than the take-over confidence torque minimum threshold.
Further, the hands-off confidence CLF-off may be calculated by the following formula:
wherein t is a timing instant (starting from the moment that the torque value of the steering system is not greater than the maximum torque threshold); n is the number of the hands-off threshold partitions; tn is the preset duration of the handoff when the torque is ideally constant in the nth handoff threshold zone.
In the implementation, taking fig. 8 as an example, the time t is the time when the steering system torque value is greater than the maximum torque threshold value 0.4 Nm. The hands-off confidence CLF-off is:
that is, the hands-off confidence is calculated by accumulating the hands-off duration ratios of the partitions.
In some possible embodiments, as shown in fig. 3, the hands-off detection method further includes:
s321: calculating the actual hands-off duration of a torque value in the torque change information in a certain hands-off threshold partition according to the torque change information and the hands-off threshold partition;
s322: and if the actual hands-off duration is not less than the corresponding preset hands-off duration, judging that the driver hands off the steering wheel.
It will be appreciated that in actual implementation, if it is possible that the torque change of the steering system is in one of the hands-off threshold regions, for example, the torque change of the steering system is in the fourth hand-off threshold region, and lasts for at least 8 seconds, it is determined that the driver has taken off the hand of the steering wheel, and a hand-off confirmation signal is sent at 8 seconds. Correspondingly, if the change of the torque of the steering system is in a third hands-off threshold zone and lasts for at least 6 seconds, judging that the driver hands off the steering wheel, and starting to send a hands-off confirmation signal at 6 seconds; if the change of the torque of the steering system is in a second hands-off threshold zone and lasts for at least 4 seconds, judging that the driver hands off the steering wheel, and starting to send a hands-off confirmation signal at 4 seconds; if the change in steering system torque is in the first hands-off threshold zone and continues for at least 3 seconds, it is determined that the driver is hands-off the steering wheel and a hands-off confirmation signal is initiated at 3 seconds. Therefore, for vehicles with different friction forces of the steering column, whether the vehicles are out of hand or not can be detected according to the actual situation, and corresponding out-of-hand confirmation signals can be sent quickly and timely or the out-of-hand signals can be sent continuously.
Further, if the actual hands-off duration is not less than the corresponding preset hands-off duration, and the hands-off confidence is not less than 1 according to the calculation formula of the hands-off confidence, it is determined that the driver hands off the steering wheel.
S400: and if the hands-off confidence coefficient is greater than a first preset value within a first preset time, judging that the driver hands off the steering wheel.
The first preset time period is the longest allowable time for the steering system to start reporting the driver hands-off information after the confidence calculation of the hands-off detection is started. And within a first preset time, when the hands-off confidence coefficient reaches a first preset value, judging that the driver takes off the hands of the steering wheel, starting to continuously remind the driver to take off the hands of the steering wheel, and stopping sending the hands-off information unless the hands-off confidence coefficient is lower than the first preset value. If the Hand-off confidence coefficient still does not reach the first preset value within the first preset time, the confidence coefficient is continuously calculated, and a signal that the driver can not be judged to be in a Hand-off state (Hand-off detected) is sent out at the specific time point.
In specific implementation, the range of the first preset value is (0, infinite value), and the first preset value may be set to 1. If the hand-off confidence CLF-off is 1.0, transmitting a hand-off confirmation signal to the driver at the moment; and if the hands-off confidence CLF-off is greater than 1.0, continuously sending the hands-off signal.
For example, if at t0Time (t)0Less than or equal to the first preset time of 8 seconds), when the calculated hands-off confidence coefficient reaches the first preset value of 1, starting from t0And starting to send the hands-off information of the driver, continuing to calculate the confidence coefficient, and continuing to send the hands-off information if the confidence coefficient is greater than 1. And in a first preset time, namely within 8 seconds, if the hands-off confidence coefficient does not reach the first preset value, sending out information that the operation state of the driver cannot be judged (hands-off cannot be determined). And when the torque of the sensor exceeds the minimum threshold of the take-over torque, stopping calculating the hands-off confidence coefficient, and clearing the hands-off confidence coefficient.
The friction force of the steering column of different vehicles is different, and the friction force of the steering column of the same vehicle under different working conditions can also be changed. According to the embodiment of the invention, the hands-off threshold value is determined and the zones are divided, and the hands-off duration of each zone is preset, so that the driver can be reminded to take over the steering wheel as soon as possible according to the actual condition of the vehicle. And then, calculating the hands-off confidence of the driver according to the torque change information, the preset hands-off threshold partitions and the preset hands-off duration corresponding to each hands-off threshold partition, and judging whether the driver hands off the steering wheel or not according to the hands-off confidence. The method can be suitable for judging the hands-off of different vehicles, for example, the method can be suitable for judging the hands-off of the vehicles of the same type or similar steering systems or similar steering column friction force levels. And whether the driver takes off the hand steering wheel or not is judged through the hand-off confidence, so that the problems of missed judgment, misjudgment and the like caused by the fact that the driver takes off the hand can be avoided, the driver can be reminded in time, and the driver can be prevented from being frequently reminded, so that the driver is distracted.
In some possible embodiments, as shown in fig. 4, the hands-off detection method further includes:
s500: and judging whether to calculate an taking-over confidence coefficient according to the torque change information, wherein the taking-over confidence coefficient refers to the credibility of the driver for taking over the steering wheel.
The range value of the take-over confidence is (0, 1), which can serve as a signal for triggering the driver to take over the steering wheel.
In some possible embodiments, the hands-off detection method further includes:
and if the torque value of the steering system is not less than the take-over torque, starting to calculate the take-over confidence coefficient. And if the torque value is continuously larger than the minimum take-over torque threshold, continuously calculating take-over confidence.
In a specific implementation, for example, if the maximum torque threshold for the hands-off detection is 0.4Nm and the take-over torque is 0.45Nm, the calculation of the take-over confidence level is started when the torque value of the steering system is detected to be 0.45 Nm. When the sensor torque becomes 0.4Nm or less, the take-over confidence is cleared.
S600: and if the takeover confidence coefficient is calculated, calculating the takeover confidence coefficient according to the torque change information, a preset takeover torque and a corresponding preset takeover duration, wherein the takeover torque is greater than a maximum torque threshold value in the hands-off threshold value partition.
In particular implementations, the takeover torque may be set to be greater than a maximum torque threshold in the hands-off threshold zone. For example, if the maximum torque threshold is 0.4Nm, then a take-over torque of 0.45Nm may be set. Where 0.4Nm and 0.45Nm may be used as transition regions, the steering wheel state in this region is determined by the hands-off confidence and take-over confidence at that time.
Further, the actual duration of the take-over can be calculated according to the torque change information and the preset take-over torque; calculating the ratio of the takeover time length according to the actual takeover duration and the preset takeover duration; and calculating the takeover confidence coefficient according to the takeover time length ratio.
For example, if the preset takeover duration is 0.5 seconds, when the actual takeover duration is 0.2 seconds, the takeover confidence is 0.4; when the actual takeover duration is 0.5 seconds, the takeover confidence is 1.
S700: and in a second preset time, if the takeover confidence coefficient is greater than a second preset value, judging that the driver takes over the steering wheel.
The second preset time duration refers to the longest permissible time for reporting the takeover information of the driver after the confidence calculation of the takeover monitoring is started.
Further, if the take-over confidence reaches a second preset value within a second preset time period, it is determined that the driver starts to take over the steering wheel; when the continuous torque is not less than the threshold value of the take-over torque, continuously sending the information that the driver has taken over.
If the takeover confidence coefficient does not reach a second preset value within a second preset time, continuing to calculate the takeover confidence coefficient of the driver, and sending a signal that the driver cannot be judged to take over the steering wheel at the moment of the second preset time.
It should be noted that, in the second preset time period, when the sensor torque changes to the maximum torque threshold value of the hands-off test and the minimum torque range of the take-over test, the take-over confidence ratio in the threshold range is negative, and the take-over confidence value is decreased. When the sensor torque is below the maximum torque threshold for hands-off verification, take-over confidence calculation is stopped and set to zero.
In specific implementation, the second preset time period may be set to 1 second, and the second preset value is set to 1. If the hands-off confidence CLF-on is 1.0, the driver starts to send the take-over signal at that time. For example, if the hand-off confidence is 1 within 0.5 second, the take-over signal is started to be transmitted at the time of 0.5 second.
In some possible embodiments, the hands-off detection method further includes:
and if the torque value of the steering system is greater than the take-over torque, stopping calculating the hands-off confidence coefficient and returning to zero, and simultaneously starting to calculate the take-over confidence coefficient.
In some possible embodiments, as shown in fig. 5, the hands-off detection method further includes:
s621: calculating the actual takeover duration of the torque value in the torque change information not less than the takeover torque according to the torque change information and the takeover torque;
s622: and if the actual taking-over duration is not less than the preset taking-over duration, judging that the driver takes over the steering wheel.
In specific implementation, after the takeover confidence coefficient reaches a second preset value and the sensor torque continuously changes above a minimum takeover torque threshold value, it is determined that the driver continuously takes over the steering wheel, and meanwhile, the takeover confidence coefficient is continuously set to be a preset value 1.
According to the embodiment, the credibility of the driver for taking over the steering wheel can be judged according to the taking over confidence coefficient, so that the judgment accuracy can be improved, the misjudgment is reduced, and the reminding signal can be sent in time. The method provides reliable guarantee for the driving of the driver and can be used as the basis for automatic control of the vehicle.
In some possible embodiments, as shown in fig. 6, the hands-off detection method further includes:
s800: and if the torque value in the torque change information is larger than the maximum torque threshold and smaller than the take-over torque, judging the state of the driver according to the hands-off confidence level and the take-over confidence level.
It is understood that, if the torque value in the sensor torque variation information becomes greater than the maximum hands-off torque threshold and less than the takeover torque minimum threshold, the torque interval is a transition interval between the hands-off monitoring and the takeover monitoring. In the transition interval, the hands-off confidence or the take-over confidence can be calculated continuously, but the duration proportion in the interval is calculated in each confidence by a negative value.
For example, as shown in fig. 8, the ratio of the duration of hands-off of the fourth hands-off threshold partition is Δ t41/T4+Δt42/T4The ratio of the hands-off duration of the third hands-off threshold partition is Δ t31/T3+Δt32/T3The ratio of the hands-off duration of the second hands-off threshold partition is Deltat21/T2+Δt22/T2The ratio of the hands-off duration of the first hands-off threshold partition is delta t11/T1If the sensor torque crosses the transition zone, the duration at the transition zone52/T5. The transition region refers to the range of torque spanned by the sensor in a certain period of time in the process of calculating the confidence coefficient, wherein the range is larger than the maximum threshold value of the hands-off test and smaller than the minimum threshold value range of the take-over test.
Then, the above-mentioned hands-off confidence CLF-off formula:
where N is the number of hands-off threshold partitions +1 (i.e., including the transition region). In fig. 8, time t is when the steering system torque value is greater than the maximum torque threshold value of 0.4Nm, and the hands-off confidence CLF-off is:
the duration time can also be preset in the interval, which can be understood as that the torque of the steering system continues for a certain time in the torque interval, and the hand-off or the steering wheel can not be judged. The calculated preset duration of the hand-off confidence and the calculated preset takeover confidence in the interval is respectively longer than a first preset duration of the hand-off confidence and a second preset duration of the takeover confidence (for example, the preset transition interval duration of the hand-off monitoring is 16 seconds and is longer than 8 seconds of the first preset duration, and the preset transition interval duration of the takeover monitoring is 3 seconds and is longer than 1 second preset duration).
And when the torque of the steering system changes in the transition region, judging the state of the driver according to the hands-off confidence coefficient and the take-over confidence coefficient, wherein the state of the driver comprises a hands-off state, a take-over state and an incapability of judgment.
Further, when the torque value in the torque change information is greater than the maximum hands-off torque threshold value and smaller than the minimum take-over torque, if the hands-off confidence level and the take-over confidence level are both 0 or both of the hands-off confidence level and the take-over confidence level do Not reach their preset values, it is determined that the driver is in an intermediate state (Not Hand-on/Hand-off Detected) in which no hands-off or take-over occurs, and it can also be understood that the driver cannot judge the state.
In other possible embodiments, as shown in fig. 7, the hands-off detection method further includes:
s821: if the hand-off confidence level and the taking-over confidence level do not start to be calculated when the torque value in the torque change information of the sensor is in the transition interval, calculating the actual duration of the torque value in the transition interval; wherein the transition interval is an interval in which a torque value is between the minimum torque threshold of the take-over and the maximum torque threshold of the hands-off.
S822: and if the actual duration is not less than the duration of the respective preset transition interval of the hands-off confidence and the take-over confidence, the driver cannot be judged to take over the steering wheel, and the steering system sends out information which cannot be judged.
In specific implementation, as shown in fig. 8 and 9, the maximum threshold of the maximum release torque is 0.4Nm, the minimum threshold of the take-over torque is 0.45Nm, the duration of the preset transition region of the release confidence is 16 seconds, and the duration of the preset transition region of the take-over confidence is 3 seconds. When the actual duration of the torque in the transition region is less than 16 seconds and the hands-off confidence is not less than 1, determining that the driver hands off the steering wheel; when the actual duration of the torque in this transition region is not less than 16 seconds, it cannot be determined that the driver is out of hand, and a signal that it cannot be determined is sent at 16 seconds. When the actual duration of the torque in the interval reaches 3 seconds, the take-over confidence coefficient is changed to 0, and a take-over signal which cannot be judged is sent out at the moment. If the torque continuously changes in the transition region, a signal that the take-over cannot be judged is continuously sent out.
In some possible embodiments, the hands-off detection method further includes: and performing band-pass filtering on the torque change information to obtain a torque change curve. Therefore, noise of the torque sensor signal can be filtered, and factors influencing the confidence coefficient calculation speed and effect are reduced.
In connection with the torque profile of the steering system shown in fig. 8, a calculation method of the hands-off confidence, the take-over confidence and the transition phase therein is provided as shown in fig. 9. Fig. 10 and 11 provide examples of hands-off confidence and take-over confidence information versus driver state correspondence tables, and confidence onset and termination calculation thresholds. When the torque of the steering system is equal to the maximum threshold value (0.4Nm) of the hands-off monitoring, the calculation of the hands-off confidence coefficient is started, and at the moment, if the take-over confidence coefficient is calculated, the take-over confidence coefficient needs to be cleared. At the 4.5 th second, the hand-off confidence is 1, the transmission of the hand-off confirmation signal is started, and the hand-off signal is continuously transmitted after the 4.5 th second and before the 8 th second. At the 8 th second, the torque value of the steering column is larger than 0.4Nm, after the 8 th second and before the 16 th second, the hands-off confidence coefficient is reduced, but the hands-off confidence coefficient is possibly still larger than 1, and then the hands-off state information is sent continuously; when the hands-off confidence coefficient is less than 1, sending information that the hands-off/take-over of the driver cannot be judged until the torque value of the steering column is not less than 0.45Nm after the 16 th second; when the torque value of the sensor of the steering column is equal to 0.45Nm, the hands-off confidence coefficient is cleared, the take-over confidence coefficient is calculated, when the torque value of the sensor is not less than 0.45Nm for 0.5 second, the take-over confidence coefficient is 1, and a take-over signal for a driver to take over the steering wheel is sent. Thereafter, if the sensor torque continues to be greater than the minimum torque threshold for driver takeover, 0.45Nm, then the takeover confidence is constantly set to 1 and the information that the driver took over continues to be sent.
In the above embodiment, with reference to fig. 6, there is provided a method for detecting a driver's hands-off steering wheel, including: acquiring torque change information of a steering system, wherein the torque change information comprises the size change information of a torque value of the steering system along with time; judging whether to calculate a hands-off confidence level according to the torque change information, wherein the hands-off confidence level refers to the credibility of a driver hands-off steering wheel; if the hands-off confidence coefficient is calculated, calculating the hands-off confidence coefficient according to the torque change information, preset hands-off threshold partitions and preset hands-off duration corresponding to each hands-off threshold partition; and if the hands-off confidence coefficient is greater than a first preset value within a first preset time, judging that the driver hands off the steering wheel.
Correspondingly, whether the driver taking over confidence level is calculated or not is judged according to the torque change information of the sensor, and the driver taking over confidence level refers to the credibility of the driver taking over the steering wheel. If the condition of calculating the take-over confidence coefficient is met, calculating the take-over confidence coefficient according to the torque change information of the sensor, the preset take-over torque threshold partition and the preset take-over duration corresponding to each take-over threshold partition; and in a second preset time, if the takeover confidence coefficient is greater than a second preset value, judging that the driver takes over the steering wheel.
And the torque of the steering system may vary between the maximum hands-off torque threshold and the minimum take-over torque, or jump to this interval after the hands-off state is determined or the take-over state is determined, and at this time, it is necessary to judge that the driver is a hands-off steering wheel, a take-over steering wheel or a state that cannot be judged according to the current hands-off confidence level and take-over confidence level.
With the method described above, three states of the driver's steering wheel control can be transmitted: the driver takes off the Hand steering wheel (Hand-off Detected), the driver takes over the steering wheel (Hand-on Detected), and the driver can Not judge that the Hand is taken off or the steering wheel is taken over (Not Hand-on/off Detected).
In specific implementation, any of the above-described hand-off detection methods may be applied to the execution of an intelligent Driving function (ADAS, Advanced Driving Assistance System), such as a Lane keeping Assistance System (LKA, Lane Keep Assistance), Traffic congestion Assistance (TJA, Traffic Jam Assistance), and highway Assistance function (HWA, High Way Assistance). Whether the driver takes over the steering wheel or not can be fed back to the vehicle, so that the vehicle can timely and accurately carry out corresponding control when the functions are executed.
An embodiment of the present invention further provides a hands-off detection device, as shown in fig. 12, where the hands-off detection device 1 includes:
the torque change acquiring module 101 is configured to acquire torque change information of a steering system, where the torque change information includes magnitude change information of a torque value of the steering system over time;
the confidence judgment module 102 is configured to judge whether to calculate a hands-off confidence according to the torque change information, where the hands-off confidence is a confidence level of the driver's hands-off steering wheel;
the hands-off confidence coefficient calculation module 103 is configured to calculate the hands-off confidence coefficient according to the torque change information, preset hands-off threshold partitions and preset hands-off duration corresponding to each of the hands-off threshold partitions if the hands-off confidence coefficient is calculated;
and the hands-off judgment module 104 is configured to judge that the driver takes off the hands of the steering wheel if the hands-off confidence is greater than a first preset value within a first preset time.
The embodiment of the present invention further provides a hands-off detection device, where the device includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement any of the above-mentioned hands-off detection methods.
An embodiment of the present invention further provides a computer-readable storage medium, where at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement any of the above-mentioned hands-off detection methods.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And that specific embodiments have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the apparatus, system and server embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference may be made to some descriptions of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.
Claims (10)
1. A hands-off detection method, characterized in that the hands-off detection method comprises:
acquiring torque change information of a steering system, wherein the torque change information comprises the size change information of a torque value of the steering system along with time;
judging whether to calculate a hands-off confidence level according to the torque change information, wherein the hands-off confidence level refers to the credibility of a driver hands-off steering wheel;
if the hands-off confidence coefficient is calculated, calculating the hands-off confidence coefficient according to the torque change information, preset hands-off threshold partitions and preset hands-off duration corresponding to each hands-off threshold partition;
and if the hands-off confidence coefficient is greater than a first preset value within a first preset time, judging that the driver hands off the steering wheel.
2. The hands-off detection method according to claim 1, wherein the determining whether to calculate a hands-off confidence level according to the torque variation information, the hands-off confidence level being a confidence level that the driver is likely to hands-off the steering wheel, comprises:
and if the torque value of the steering system is not greater than the maximum torque threshold value in the hands-off threshold value partition, calculating the hands-off confidence level.
3. The hands-off detection method according to claim 1, wherein the calculating the confidence of the hands-off of the driver according to the torque variation information, preset hands-off threshold partitions and preset hands-off duration corresponding to each of the preset hands-off threshold partitions comprises:
calculating actual torque duration corresponding to each hands-off threshold partition according to the torque change information and the hands-off threshold partition;
calculating the ratio of the hands-off duration according to the actual torque duration and the corresponding preset hands-off duration;
and calculating the hands-off confidence coefficient according to the hands-off duration ratio.
4. The hands-off detection method according to claim 1, further comprising:
calculating the actual hands-off duration of a torque value in the torque change information in a certain hands-off threshold partition according to the torque change information and the hands-off threshold partition;
and if the actual hands-off duration is not less than the corresponding preset hands-off duration, judging that the driver hands off the steering wheel.
5. The hands-off detection method according to claim 1, further comprising:
judging whether to calculate a takeover confidence coefficient according to the torque change information, wherein the takeover confidence coefficient is the credibility of the driver for taking over the steering wheel;
if the takeover confidence coefficient is calculated, calculating the takeover confidence coefficient according to the torque change information, the preset takeover torque and the corresponding preset takeover duration,
within a second preset time, if the takeover confidence coefficient is greater than a second preset value, judging that the driver takes over the steering wheel;
wherein the takeover torque is greater than a maximum torque threshold in the hands-off threshold zone.
6. The hands-off detection method according to claim 5, further comprising:
and if the torque value of the steering system is greater than the take-over torque, stopping calculating the hands-off confidence coefficient and returning to zero, and simultaneously starting to calculate the take-over confidence coefficient.
7. The hands-off detection method according to claim 5, further comprising:
calculating the actual takeover duration of the torque value in the torque change information not less than the takeover torque according to the torque change information and the takeover torque;
and if the actual takeover duration is not less than the preset takeover duration, judging that the driver takes over the steering wheel.
8. The hands-off detection method according to claim 5, further comprising:
and if the torque value in the torque change information is larger than the maximum torque threshold and smaller than the take-over torque, judging the state of the driver according to the hands-off confidence level and the take-over confidence level.
9. A hands-off detection device, characterized in that it comprises:
the torque change acquisition module is used for acquiring torque change information of a steering system, wherein the torque change information comprises the change information of the torque value of the steering system along with time;
the confidence coefficient judging module is used for judging whether to calculate the hands-off confidence coefficient according to the torque change information, wherein the hands-off confidence coefficient refers to the credibility of the steering wheel of the driver for hands-off;
the hands-off confidence coefficient calculation module is used for calculating the hands-off confidence coefficient according to the torque change information, preset hands-off threshold partitions and preset hands-off duration corresponding to each hands-off threshold partition if the hands-off confidence coefficient is calculated;
and the hands-off judgment module is used for judging that the driver takes off the hands of the steering wheel if the hands-off confidence coefficient is greater than a first preset value within a first preset time.
10. A hands-off detection device comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and wherein the at least one instruction or the at least one program is loaded and executed by the processor to implement a hands-off detection method as claimed in any one of claims 1 to 8.
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| CN112319485B (en) * | 2020-11-05 | 2022-04-01 | 北京中科心研科技有限公司 | Method and system for analyzing driving operation of driver based on multi-modal data |
| CN112918474B (en) * | 2021-03-01 | 2022-06-17 | 中国汽车技术研究中心有限公司 | Method, device, electronic equipment and medium for reminding driver in lane keeping |
| CN113119729A (en) * | 2021-05-10 | 2021-07-16 | 广州小鹏自动驾驶科技有限公司 | Method and device for detecting hands-off state of steering wheel, vehicle and medium |
| CN113343833B (en) * | 2021-06-02 | 2022-08-30 | 东风汽车集团股份有限公司 | Method, device and equipment for detecting hand-off of unsafe holding posture and storage medium |
| CN113200046B (en) * | 2021-06-17 | 2023-12-05 | 东风悦享科技有限公司 | Method and system for detecting driver's hand-off steering wheel |
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