CN114889686A - Haptic feedback vehicle steering control method, system, medium, and electronic device - Google Patents
Haptic feedback vehicle steering control method, system, medium, and electronic device Download PDFInfo
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- CN114889686A CN114889686A CN202210725988.2A CN202210725988A CN114889686A CN 114889686 A CN114889686 A CN 114889686A CN 202210725988 A CN202210725988 A CN 202210725988A CN 114889686 A CN114889686 A CN 114889686A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/008—Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
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Abstract
The invention provides a haptic feedback type vehicle steering control method, a system, a medium and electronic equipment, which are used for obtaining a muscle activation degree value of a target position of a driver by calculating an electromyographic signal of the target position; comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result; carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value; and controlling the steering of the automobile according to the comprehensive torque value. According to the invention, a first steering torque value generated when the driver rotates the steering wheel and a second steering torque value generated when the automatic automobile driving system rotates the steering wheel are distributed according to the driving state of the driver, so that the driver participates in the driving in the whole course; the automatic driving of a certain degree is realized, and the driving safety can be ensured.
Description
Technical Field
The application relates to the technical field of automobile control, in particular to a haptic feedback type vehicle steering control method, a haptic feedback type vehicle steering control system, a haptic feedback type vehicle steering control medium and electronic equipment.
Background
Under a large background that the full-automatic driving technology is difficult to realize in a short time, it is a hot topic of current research to let the driver and the automatic driving system share the driving task.
One of the conventional ideas for sharing driving is to switch driving rights, so that an automatic driving system independently completes a driving task under a good working condition scene, and if the task cannot be completed or risks exist, a driver takes over control; however, this method requires the automatic driving system to actively determine whether the driving task can be completed independently, and there is still a great risk.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a haptic feedback type vehicle steering control method, system, medium, and electronic device to solve the above-mentioned technical problems.
The invention provides a haptic feedback type vehicle steering control method, which comprises the following steps:
acquiring an electromyographic signal, a first steering torque value and a second steering torque value of a target position of a driver; the first steering torque value is generated by a driver rotating a steering wheel, and the second steering torque value is generated by an automatic automobile driving system rotating the steering wheel;
calculating the electromyographic signals of the target position to obtain a muscle activation degree value of the target position of the driver;
comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result;
carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value;
and controlling the steering of the automobile according to the comprehensive torque value.
In an embodiment of the present invention, the calculating the electromyographic signal of the target position to obtain the muscle activation degree value of the target position of the driver includes:
carrying out band-pass filtering processing on the electromyographic signals of the target position;
acquiring electromyographic signal voltage data from the filtered electromyographic signal of the target position, calculating an electromyographic signal effective value RMS according to the electromyographic signal voltage data, wherein the mathematical expression of the electromyographic signal effective value RMS is as follows:
wherein T is the window function length, e (T) is electromyographic signal voltage data, and T is a time parameter;
calculating the muscle activation degree R of the target position according to the electromyographic signal effective value RMS, wherein the mathematical expression for calculating the muscle activation degree R of the target position is as follows:
wherein RMS m The effective value of the electromyographic signal when the muscle at the target position of the driver contracts autonomously at the maximum is shown.
In one embodiment of the present invention, the muscle activation degree value of the target position includes a muscle activation degree value R of the subscapularis 1 Muscle activation degree value R of latissimus dorsi 2 Muscle activation degree value R of brachial triceps longus 3 (ii) a Comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result, wherein the muscle activation degree value comprises the following steps:
measuring the muscle activation degree of the subscapularis 1 Muscle activation degree threshold R with subscapular muscle 1S Comparing the muscle activation degree value R of the latissimus dorsi 2 Threshold of muscle activation degree with latissimus dorsi 2S Comparing and comparing the muscle activation degree value R of the long head of the brachial triceps 3 Muscle activation degree threshold R for the long head of the brachial triceps 3S Carrying out comparison;
at the same time satisfy R 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When the driver is in a tension state, judging that the driver is in the tension state;
when R cannot be satisfied simultaneously 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When it is determined that the driver is drivingIn a relaxed state.
In an embodiment of the present invention, performing a weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value includes:
when the driver is in a relaxed state, carrying out weighted average operation on the first steering torque value and the second steering torque value to obtain a first comprehensive torque value T r The mathematical expression of (a) is:
T r ＝T h a r -T a (1-a r ) (3)
wherein, T h A first steering torque value; a is r The first steering torque value T is set when the driver is in a relaxed state h The weight value of (1); t is a A second steering torque value; 1-a r The second steering torque value T is set when the driver is in a relaxed state a The weight value of (2).
In an embodiment of the present invention, the steering control of the vehicle according to the integrated torque value includes:
according to the first integrated torque value T when the driver is in a relaxed state r And carrying out steering control on the automobile.
In an embodiment of the present invention, performing a weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value includes:
when the driver is in a stressed state, carrying out weighted average operation on the first steering torque value and the second steering torque value to obtain a second comprehensive torque value T t The mathematical expression of (a) is:
T t ＝T h a t -T a (1-a t ) (4)
wherein, T h A first steering torque value; a is t The first steering torque value T is set when the driver is in a stressed state h The weight value of (1); t is a A second steering torque value; 1-a t The second steering torque value T is set when the driver is in a stressed state a Weight value of。
In an embodiment of the present invention, the steering control of the vehicle according to the integrated torque value includes:
when the driver is in a stress state, the second comprehensive torque value T is used t And carrying out steering control on the automobile.
The present invention also provides a haptic feedback vehicle steering control system comprising:
the acquisition module is used for acquiring an electromyographic signal, a first steering torque value and a second steering torque value of a target position of a driver; the first steering torque value is generated by a driver rotating a steering wheel, and the second steering torque value is generated by an automatic automobile driving system rotating the steering wheel;
the first operation module is used for operating the electromyographic signals of the target position to obtain muscle activation degree values of the target position of the driver;
the comparison module is used for comparing the muscle activation degree value with a preset threshold value and determining the driving state of the driver according to a comparison result;
the second operation module is used for carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value;
and the steering control module is used for controlling the steering of the automobile according to the comprehensive torque value.
The present invention also provides an electronic device, including:
one or more processors;
a storage device to store one or more programs that, when executed by the one or more processors, cause the electronic device to implement a haptic feedback steering control method as described above.
The present invention also provides a computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, cause the computer to execute the haptic feedback steering control method as described above.
The invention has the beneficial effects that: the haptic feedback type vehicle steering control method, the system, the medium and the electronic equipment calculate the electromyographic signal of the target position to obtain the muscle activation degree value of the target position of the driver; comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result; carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value; and controlling the steering of the automobile according to the comprehensive torque value. According to the invention, a first steering torque value generated when the driver rotates the steering wheel and a second steering torque value generated when the automatic automobile driving system rotates the steering wheel are distributed according to the driving state of the driver, so that the driver participates in the driving in the whole course; the automatic driving of a certain degree is realized, and the driving safety can be ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a diagram illustrating an application scenario for automotive steering control in accordance with an exemplary embodiment of the present application;
FIG. 2 is a flow chart of an exemplary haptic feedback steering control method of the present application;
FIG. 3 is a flow chart of step S220 in an exemplary embodiment of the embodiment shown in FIG. 2;
FIG. 4 is a flowchart of step S230 in an exemplary embodiment of the embodiment shown in FIG. 2;
FIG. 5 is a block diagram of an exemplary haptic feedback steering control system of the present application;
FIG. 6 is a flow chart of an exemplary implementation of a steering control method of the present application;
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure herein, wherein the embodiments of the present invention are described in detail with reference to the accompanying drawings and preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in practical implementation, the form, quantity and proportion of the components in practical implementation can be changed freely, and the layout of the components can be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
First, it should be noted that an automatic-driving automobile (also called an unmanned automobile, a computer-driven automobile, or a wheeled mobile robot) is an intelligent automobile that can be unmanned through a computer system. Decades of history have existed in the 20 th century, and the 21 st century shows a trend toward practical use. Many conventional automobiles are equipped with an automatic driving system (also referred to as a driver assistance system), and although complete automatic driving cannot be achieved for a while, the driving operation of a driver can be assisted to a certain extent.
The existing vehicle-mounted automatic driving system generally adopts a driving right switching mode, such as an ACC self-adaptive cruise function, and when the automobile starts the ACC self-adaptive cruise function, the automatic driving system takes over the automobile; if the driver intervenes through the steering wheel, the driver takes over the automobile automatically; however, when the automatic driving system takes over the section of the automobile, certain potential safety hazards can be generated, and the confidence of the driver is insufficient. The present exemplary embodiment therefore proposes an automatic driving model, which takes over the driving of the vehicle proportionally from the driver and the automatic driving system together.
In an exemplary embodiment of the application, the steering torque of the automobile is jointly determined by the torque generated by a driver rotating a steering wheel and the torque generated by an automatic driving system rotating the steering wheel; in consideration of the influence of the driving state of the driver on the torque output, in the embodiment, the driving state of the driver is acquired by acquiring the electromyographic signals of the driver, so that the proportion of the torque generated by the driver to rotate the steering wheel and the torque generated by the automatic driving system to rotate the steering wheel is distributed, and the steering control is completed.
Fig. 1 is an application scene diagram of an automotive steering control according to an exemplary embodiment of the present application, in which an acquisition terminal configured to acquire an electromyographic signal is configured to acquire an electromyographic signal of a driver, the acquisition terminal is connected to a vehicle machine, the vehicle machine is connected to a server via a vehicle-mounted internet, and the server provides a positioning signal to navigate an automobile so as to provide the positioning signal to an automatic driving system inside the automobile; the vehicle machine carries out operation processing on the electromyographic signals to obtain the driving state of a driver, and determines the access proportion of the torque generated when the automatic driving system rotates the steering wheel according to the driving state of the driver, so that the vehicle machine and the torque generated by the rotating steering wheel control the steering of the vehicle together.
The collecting terminal 110 shown in fig. 1 may be any terminal device supporting electromyographic signal collection, such as a wearable device, but is not limited thereto. The server 120 shown in fig. 1 is a car navigation server, and may be, for example, an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server providing basic cloud computing services such as a cloud service, a cloud database, cloud computing, a cloud function, cloud storage, a Network service, cloud communication, a middleware service, a domain name service, a security service, a CDN (Content Delivery Network), and a big data and artificial intelligence platform, which is not limited herein. The collection terminal 110 may communicate with the server 120 through a wireless network such as 3G (third generation mobile information technology), 4G (fourth generation mobile information technology), 5G (fifth generation mobile information technology), and the like, which is not limited herein.
As shown in fig. 2, in an exemplary embodiment, the haptic feedback steering control method at least includes steps S210 to S250, which are described in detail as follows, and includes:
s210, acquiring an electromyographic signal, a first steering torque value and a second steering torque value of a target position of a driver; the first steering torque value is generated by a driver rotating a steering wheel, and the second steering torque value is generated by an automatic automobile driving system rotating the steering wheel;
in step S210, after the driver turns the steering wheel, the first steering torque value is obtained through the corresponding sensor, and the second steering torque value is the torque value generated when the vehicle turns the steering wheel during the automatic driving;
s220, calculating the electromyographic signals of the target position to obtain a muscle activation degree value of the target position of the driver;
electromyogram (EMG) is a superposition of motor unit action potentials in a multitude of muscle fibers, both temporally and spatially. Surface Electromyogram (SEMG) is a comprehensive effect of electrical activity on superficial muscles and nerve trunks on the surface of skin, and can reflect the activity of neuromuscular to a certain extent; in the embodiment, the muscle target positions capable of reflecting the driving state of the driver comprise subscapularis, latissimus dorsi and triceps brachii longhead;
s230, comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result;
in step S230, when the muscle activation degree value is greater than the preset threshold, it indicates that the muscle activation degree is high, and in this embodiment, this state is regarded as the driver being in a tense state; otherwise, the driver is in a relaxed state;
s240, carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value;
in step S240, when the driver is in a stressed state, it is considered that the driver may be handling some sudden states, and a stronger desire to take over driving authority appears, and at this time, the weight of the first steering torque is increased; conversely, when the driver is in the relaxed state, the weight of the first steering torque is reduced.
And S250, steering control is carried out on the automobile according to the comprehensive torque value.
In step S250, the vehicle performs steering control according to the integrated torque value with the adjusted weight, thereby achieving the purpose that the driver and the automatic driving system take over the steering control together.
Fig. 3 is a flowchart of step S220 in an exemplary embodiment in the embodiment shown in fig. 2. As shown in fig. 3, the process of calculating the electromyographic signal of the target position to obtain the muscle activation degree value of the target position of the driver may include steps S310 to S330, which are described in detail as follows:
s310, performing band-pass filtering processing on the electromyographic signals of the target position;
in step S310, since the electromyographic signal is very weak, in order to avoid the interference signal from affecting the measurement accuracy, the electromyographic signal should be filtered by the original signal during processing, so as to filter the interference signal. The invention adopts band-pass filtering to process, the upper and lower limits of cut-off frequency of the pass band are 30Hz and 120Hz, and the upper and lower limits of cut-off frequency of the stop band are 20Hz and 130 Hz.
S320, acquiring electromyographic signal voltage data from the filtered electromyographic signal of the target position, calculating an electromyographic signal effective value RMS according to the electromyographic signal voltage data, and calculating a mathematical expression of the electromyographic signal effective value RMS as follows:
wherein T is the window function length, e (T) is electromyographic signal voltage data, and T is a time parameter;
in step S320, considering that the individual difference between drivers, such as the thickness of the subcutaneous fat layer, the skin impedance, etc., directly affects the electromyogram signal amplitude, the electromyogram signal needs to be normalized to eliminate the individual difference. In the embodiment, the electromyographic signals are normalized by calculating the effective value RMS of the electromyographic signals.
S330, calculating the muscle activation degree R of the target position according to the effective value RMS of the electromyographic signal, wherein the mathematical expression for calculating the muscle activation degree R of the target position is as follows:
wherein RMS m The effective value of the electromyographic signal is the maximum myoelectric signal effective value of the muscle at the target position of the driver when the muscle is autonomously contracted;
in step S330, the muscle activation degree R is obtained by calculating the percentage of the root mean square value (RMS) of the electromyographic signal at the time of muscle contraction to the RMS value of the electromyographic signal at the time of maximum voluntary contraction of the muscle, that is, the% MVC method. Effective value RMS of electromyographic signals at maximum voluntary contraction of muscles m The driver needs to be collected in advance.
Fig. 4 is a flowchart of step S230 in an exemplary embodiment in the embodiment shown in fig. 2. As shown in FIG. 4, the muscle activation degree value of the target position includes a muscle activation degree value R of the subscapularis 1 Muscle activation degree value R of latissimus dorsi 2 Muscle activation degree value R of brachial triceps longus 3 (ii) a The process of comparing the muscle activation degree value with the preset threshold value and determining the driving state of the driver according to the comparison result may include steps S410 to S430, which will be described in detail as follows
S410, muscle of the subscapularisActivation degree value R 1 Muscle activation degree threshold R with subscapular muscle 1S Comparing the muscle activation degree value R of the latissimus dorsi 2 Threshold of muscle activation degree with latissimus dorsi 2S Comparing and comparing the muscle activation degree value R of the long head of the brachial triceps 3 Muscle activation degree threshold R for the long head of the brachial triceps 3S Carrying out comparison;
in step S410, a muscle activation degree threshold R of the subscapularis muscle 1S Threshold value R of muscle activation degree of latissimus dorsi 2S Muscle activation degree threshold value R of the long head of the brachial triceps 3S Presetting is needed;
s420. satisfy R at the same time 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When the driver is in a tension state, judging that the driver is in the tension state;
in step S420, when the Muscle Activation degree (Muscle Activation) is high, it indicates that the driver is performing driving more forcefully, so that it can be determined that the driver is in a tension state;
s430. can not satisfy R simultaneously 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S And when the driver is in the relaxed state, the driver is judged to be in the relaxed state.
In step S430, when the activation degree of the muscle is low, it indicates that the driver does not engage in a driving behavior with great force, and thus it can be determined that the driver is in a relaxed state.
In some embodiments, the process of obtaining the integrated torque value by performing a weighted average operation on the first steering torque value and the second steering torque value according to the driving state may include step S510, which is described in detail as follows:
s510, when the driver is in a relaxed state, carrying out weighted average operation on the first steering torque value and the second steering torque value to obtain a first comprehensive torque value T r The mathematical expression of (a) is:
T r ＝T h a r -T a (1-a r ) (3)
wherein, T h Is a first steering torque value；a r The first steering torque value T is set when the driver is in a relaxed state h The weight value of (1); t is a A second steering torque value; 1-a r The second steering torque value T is set when the driver is in a relaxed state a The weight value of (2).
In step S510, the first integrated torque value T r The final output steering wheel torque.
In some embodiments, the process of controlling the steering of the vehicle according to the integrated torque value may include step S610, which is described in detail as follows:
s610, when the driver is in a relaxed state, according to the first comprehensive torque value T r And carrying out steering control on the automobile.
In step S610, the driver in the relaxed state has less authority to take over steering, and most of the steering authority is assigned to the automatic driving system.
In some embodiments, the process of performing a weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain the integrated torque value may include step S710, which is described in detail as follows:
s710, when the driver is in a tension state, carrying out weighted average operation on the first steering torque value and the second steering torque value to obtain a second comprehensive torque value T t The mathematical expression of (a) is:
T t ＝T h a t -T a (1-a t ) (4)
wherein, T h A first steering torque value; a is t The first steering torque value T is set when the driver is in a stressed state h The weight value of (1); t is a A second steering torque value; 1-a t The second steering torque value T is set when the driver is in a stressed state a The weight value of (2).
In step S710, a second integrated torque value T t The final output steering wheel torque.
In some embodiments, the process of controlling the steering of the vehicle according to the integrated torque value may include step S810, which is described in detail as follows:
s810, when the driver is in a stressed state, according to a second comprehensive torque value T t And carrying out steering control on the automobile.
In step S810, the driver in a stressed state has a greater authority to take over steering, and most of the steering authority is assigned to the driver.
As shown in fig. 5, firstly, a muscle surface electromyographic signal strongly related to steering operation of a driver needs to be collected, and then, a muscle activation degree is calculated according to the electromyographic signal; judging whether the muscle activation degree meets a threshold condition, judging that the driver is in a tension state under the condition of meeting the threshold condition, and outputting a second comprehensive torque value T t (ii) a Under the condition that the threshold value condition is not met, judging that the driver is in a relaxed state, and outputting a first comprehensive torque value T r (ii) a Note that, in particular, the weight value "a" is t Greater than the weight value a r 。
The haptic feedback type vehicle steering control method obtains the muscle activation degree value of the target position of a driver by calculating the electromyographic signal of the target position; comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result; carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value; and controlling the steering of the automobile according to the comprehensive torque value. According to the invention, a first steering torque value generated when the driver rotates the steering wheel and a second steering torque value generated when the automatic automobile driving system rotates the steering wheel are distributed according to the driving state of the driver, so that the driver participates in the driving in the whole course; the automatic driving of a certain degree is realized, and the driving safety can be ensured.
As shown in fig. 6, the present invention also provides a haptic feedback type vehicle steering control system, comprising:
the acquisition module is used for acquiring an electromyographic signal, a first steering torque value and a second steering torque value of a target position of a driver; the first steering torque value is generated by a driver rotating a steering wheel, and the second steering torque value is generated by an automatic automobile driving system rotating the steering wheel;
the first operation module is used for operating the electromyographic signals of the target position to obtain muscle activation degree values of the target position of the driver;
the comparison module is used for comparing the muscle activation degree value with a preset threshold value and determining the driving state of the driver according to a comparison result;
the second operation module is used for carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value;
and the steering control module is used for controlling the steering of the automobile according to the comprehensive torque value.
The haptic feedback type vehicle steering control system obtains the muscle activation degree value of the target position of a driver by calculating the electromyographic signal of the target position; comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result; carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value; and controlling the steering of the automobile according to the comprehensive torque value. According to the invention, a first steering torque value generated when the driver rotates the steering wheel and a second steering torque value generated when the automatic automobile driving system rotates the steering wheel are distributed according to the driving state of the driver, so that the driver participates in the driving in the whole course; the automatic driving of a certain degree is realized, and the driving safety can be ensured.
It should be noted that the haptic feedback type steering control system provided in the above embodiment and the haptic feedback type steering control method provided in the above embodiment belong to the same concept, wherein the specific manner of performing the operation by each module and unit has been described in detail in the method embodiment, and is not described herein again. In practical applications, the haptic feedback steering control system provided in the above embodiment may distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the above described functions, which is not limited herein.
An embodiment of the present application further provides an electronic device, including: one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors, cause the electronic device to implement the haptic feedback-type steering control method provided in the above-described embodiments.
FIG. 7 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 700 of the electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes, such as executing the methods described in the above embodiments, according to a program stored in a Read-Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for system operation are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An Input/Output (I/O) interface 705 is also connected to the bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that the computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a haptic feedback steering control method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the haptic feedback type steering control method provided in the above-described embodiments.
The foregoing embodiments are merely illustrative of the principles of the present invention and its efficacy, and are not to be construed as limiting the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. A haptic feedback vehicle steering control method, comprising the steps of:
acquiring an electromyographic signal, a first steering torque value and a second steering torque value of a target position of a driver; the first steering torque value is generated by a driver rotating a steering wheel, and the second steering torque value is generated by an automatic automobile driving system rotating the steering wheel;
calculating the electromyographic signals of the target position to obtain a muscle activation degree value of the target position of the driver;
comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result;
carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value;
and controlling the steering of the automobile according to the comprehensive torque value.
2. A haptic feedback vehicle steering control method according to claim 1, wherein calculating a myoelectric signal of the target position to obtain a muscle activation level value of a driver target position comprises:
carrying out band-pass filtering processing on the electromyographic signals of the target position;
acquiring electromyographic signal voltage data from the filtered electromyographic signal of the target position, calculating an electromyographic signal effective value RMS according to the electromyographic signal voltage data, wherein the mathematical expression of the electromyographic signal effective value RMS is as follows:
wherein T is the window function length, e (T) is electromyographic signal voltage data, and T is a time parameter;
calculating the muscle activation degree R of the target position according to the electromyographic signal effective value RMS, wherein the mathematical expression for calculating the muscle activation degree R of the target position is as follows:
wherein RMS m The effective value of the electromyographic signal when the muscle at the target position of the driver contracts autonomously at the maximum is shown.
3. A haptic feedback vehicle steering control method according to claim 1, wherein the muscle activation degree value of the target position includes a muscle activation degree value R of the subscapularis 1 Muscle activation degree value R of latissimus dorsi 2 Muscle activation degree value R of brachial triceps longus 3 (ii) a Comparing the muscle activation degree value with a preset threshold value to obtain a comparison result, and determining the driving state of the driver according to the comparison result, wherein the muscle activation degree value comprises the following steps:
measuring the muscle activation degree of the subscapularis 1 Muscle activation degree threshold R with subscapular muscle 1S Comparing the muscle activation degree value R of the latissimus dorsi 2 Threshold of muscle activation degree with latissimus dorsi 2S Comparing and comparing the muscle activation degree value R of the long head of the brachial triceps 3 Muscle activation degree threshold R for the long head of the brachial triceps 3S Carrying out comparison;
at the same time satisfy R 1 >R 1S 、R 2 >R 2S 、R 3 >R 3S When the driver is in a tension state, judging that the driver is in the tension state;
when R cannot be satisfied simultaneously 1 >R 1S 、R 2 >R 2S 、R 3 >R 3S And when the driver is in the relaxed state, the driver is judged to be in the relaxed state.
4. A haptic feedback vehicle steering control method according to claim 3, wherein performing a weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a composite torque value comprises:
when the driver is in a relaxed state, carrying out weighted average operation on the first steering torque value and the second steering torque value to obtain a first comprehensive torque value T r The mathematical expression of (a) is:
T r ＝T h a r -T a (1-a r ) (3)
wherein, T h A first steering torque value; a is r The first steering torque value T is set when the driver is in a relaxed state h The weight value of (1); t is a A second steering torque value; 1-a r The second steering torque value T is set when the driver is in a relaxed state a The weight value of (2).
5. A haptic feedback vehicle steering control method according to claim 4, wherein steering control of the vehicle according to the integrated torque value comprises:
according to the first integrated torque value T when the driver is in a relaxed state r And carrying out steering control on the automobile.
6. A haptic feedback vehicle steering control method according to claim 3, wherein performing a weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a composite torque value comprises:
when the driver is in a stressed state, carrying out weighted average operation on the first steering torque value and the second steering torque value to obtain a second comprehensive torque value T t The mathematical expression of (a) is:
T t ＝T h a t -T a (1-a t ) (4)
wherein, T h A first steering torque value; a is t The first steering torque value T is set when the driver is in a stressed state h The weight value of (1); t is a A second steering torque value; 1-a t The second steering torque value T is set when the driver is in a stressed state a The weight value of (2).
7. A haptic feedback vehicle steering control method according to claim 6, wherein steering control of the vehicle according to the integrated torque value comprises:
when the driver is in a stress state, the second comprehensive torque value T is used t And carrying out steering control on the automobile.
8. A haptic feedback vehicle steering control system, comprising:
the acquisition module is used for acquiring an electromyographic signal, a first steering torque value and a second steering torque value of a target position of a driver; the first steering torque value is generated by a driver rotating a steering wheel, and the second steering torque value is generated by an automatic automobile driving system rotating the steering wheel;
the first operation module is used for operating the electromyographic signals of the target position to obtain muscle activation degree values of the target position of the driver;
the comparison module is used for comparing the muscle activation degree value with a preset threshold value and determining the driving state of the driver according to a comparison result;
the second operation module is used for carrying out weighted average operation on the first steering torque value and the second steering torque value according to the driving state to obtain a comprehensive torque value;
and the steering control module is used for controlling the steering of the automobile according to the comprehensive torque value.
9. An electronic device, characterized in that the electronic device comprises:
one or more processors;
storage means for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the haptic feedback vehicle steering control method of any of claims 1-7.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor of a computer, causes the computer to carry out the haptic feedback vehicle steering control method according to any one of claims 1 to 7.
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