CN114889686B - Haptic feedback type vehicle steering control method, system, medium and electronic equipment - Google Patents
Haptic feedback type vehicle steering control method, system, medium and electronic equipment Download PDFInfo
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- CN114889686B CN114889686B CN202210725988.2A CN202210725988A CN114889686B CN 114889686 B CN114889686 B CN 114889686B CN 202210725988 A CN202210725988 A CN 202210725988A CN 114889686 B CN114889686 B CN 114889686B
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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
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Abstract
The invention provides 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, wherein a muscle activation degree value of a target position of a driver is obtained 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 steering the automobile according to the comprehensive torque value. According to the invention, the first steering torque value generated when the driver rotates the steering wheel and the second steering torque value generated when the automobile automatic driving system rotates the steering wheel are distributed according to the driving state of the driver, so that the driver participates in driving in the whole course; not only realizing automatic driving to a certain extent, but also ensuring driving safety.
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 an electronic device.
Background
In a large background that the full automatic driving technology is difficult to realize in a short period of time, the common bearing of the driving task by the driver and the automatic driving system is a hot subject of current research.
One idea of the existing common bearing driving is driving right switching, so that an automatic driving system independently completes driving tasks under a good working condition scene, and if the tasks cannot be completed or risks exist, the automatic driving system is controlled by a driver in a taking-over way; however, this approach requires the autopilot system to actively determine whether the driving task can be accomplished independently or with a significant 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 turning a steering wheel, and the second steering torque value is generated by an automatic driving system turning 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 a 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 steering the automobile according to the comprehensive torque value.
In an embodiment of the present invention, the operation of the myoelectric signal of the target position to obtain the muscle activation degree value of the target position of the driver includes:
band-pass filtering is carried out on the electromyographic signals of the target position;
the electromyographic signal voltage data is obtained from the electromyographic signals of the filtered target position, the electromyographic signal effective value RMS is calculated according to the electromyographic signal voltage data, and the mathematical expression for calculating the electromyographic signal effective value RMS is as follows:
wherein T is the length of a window function, 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 is contracted most autonomously.
In one embodiment of the invention, the muscle activation level value of the target site includes a muscle activation level value R of the subscapular muscle 1 Value of degree of muscle activation of latissimus dorsi R 2 Value of degree of muscle activation of long head of triceps brachii 3 The method comprises the steps of carrying out a first treatment on the surface of the 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 method comprises the following steps:
value of the degree of muscle activation of the subscapular muscle R 1 Threshold value R of muscle activation degree of subscapular muscle 1S Comparing the muscle activation degree value R of the latissimus dorsi 2 Threshold value R for degree of muscular activation with latissimus dorsi 2S Comparing, and comparing the muscle activation degree value R of the long head of the triceps brachii 3 A threshold value R of the degree of activation of the muscle with the long head of the triceps brachii 3S Comparing;
at the same time satisfy R 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When the driver is in tension, the driver is judged;
at the same time not meeting R 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When the driver is in a relaxed state, it is determined.
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, including:
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 (2) is:
T r ＝T h a r -T a (1-a r ) (3)
wherein T is h Is a first steering torque value; a, a r When the driver is in a relaxed state, the first steering torque value T h Weight value of (2); t (T) a A second steering torque value; 1-a r The second steering torque value T when the driver is in a relaxed state a Is a weight value of (a).
In one embodiment of the present invention, 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 steering control is carried out 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, including:
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 (2) is:
T t ＝T h a t -T a (1-a t ) (4)
wherein T is h Is a first steering torque value; a, a t When the driver is in tension, the first steering torque value T h Weight value of (2); t (T) a A second steering torque value; 1-a t The second steering torque value T when the driver is in tension a Is a weight value of (a).
In one embodiment of the present invention, steering control of the vehicle according to the integrated torque value includes:
according to the second integrated torque value T when the driver is in tension t And steering control is carried out 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 turning a steering wheel, and the second steering torque value is generated by an automatic driving system turning the steering wheel;
the first operation module is used for operating the electromyographic signals of the target position to obtain a muscle activation degree value 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 a 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 steering the automobile according to the comprehensive torque value.
The invention also provides an electronic device comprising:
one or more processors;
and a 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 steering control method as described above.
The present invention also provides a computer-readable storage medium having stored thereon computer-readable instructions that, when executed by a processor of a computer, cause the computer to perform the haptic feedback steering control method as described above.
The invention has the beneficial effects that: according to the haptic feedback type vehicle steering control method, the haptic feedback type vehicle steering control system, the haptic feedback type vehicle steering control medium and the haptic feedback type vehicle steering control electronic equipment, muscle activation degree values of a target position of a driver are obtained through calculation of electromyographic signals 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 steering the automobile according to the comprehensive torque value. According to the invention, the first steering torque value generated when the driver rotates the steering wheel and the second steering torque value generated when the automobile automatic driving system rotates the steering wheel are distributed according to the driving state of the driver, so that the driver participates in driving in the whole course; not only realizing automatic driving to a certain extent, but also ensuring driving safety.
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 application and together with the description, serve to explain the principles of the application. It is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art. In the drawings:
FIG. 1 is a diagram illustrating an automotive steering control application scenario 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 of FIG. 2;
FIG. 4 is a flow chart of step S230 in an exemplary embodiment of the embodiment of FIG. 2;
FIG. 5 is a block diagram of the structure of an exemplary haptic feedback steering control system of the present application;
FIG. 6 is a flowchart of an implementation of an exemplary steering control method of the present application;
fig. 7 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments of the present application.
Detailed Description
Further advantages and effects of the present invention will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In the following description, numerous details are set forth in order to provide a more thorough explanation of embodiments of the present invention, it will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without these specific details, in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring the embodiments of the present invention.
Firstly, it should be noted that an automatic driving automobile (Autonomous vehicles; self-driving automobile) is also called an unmanned automobile, a computer driving automobile or a wheeled mobile robot, and is an intelligent automobile for realizing unmanned through a computer system. Decades of history have been in the 20 th century, and the 21 st century has shown a trend towards practical use. Many conventional automobiles are equipped with an automatic driving system (also called a driving assistance system), and although complete automatic driving cannot be realized temporarily, the automatic driving system can assist a driver in driving operations to some 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 an 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 automatically takes over the automobile; however, taking over the automobile section in the automatic driving system may create a certain safety hazard, and may also lead to insufficient confidence of the driver. The present embodiment therefore proposes an autopilot model, with the driver and autopilot system taking over the driving of the vehicle together in proportion.
In an exemplary embodiment of the present application, the steering torque of the automobile is determined by the torque generated by the driver turning the steering wheel and the torque generated by the automatic driving system turning the steering wheel; considering the influence of the driving state of the driver on the torque output, the driving state of the driver is obtained by collecting the myoelectric signal of the driver in the embodiment, so that the proportion of the torque generated by the rotation of the steering wheel by the driver and the torque generated by the rotation of the steering wheel by the automatic driving system is distributed, and the steering control is completed.
FIG. 1 is a diagram of an application scenario for steering control of a vehicle, in which an acquisition terminal for acquiring myoelectric signals is provided to acquire myoelectric signals of a driver, the acquisition terminal is connected to a vehicle, and the vehicle is connected to a server through a vehicle-mounted Internet, and the server provides positioning signals to navigate the vehicle so as to provide the positioning signals to an automatic driving system in the vehicle; 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 steering wheel is rotated by the automatic driving system according to the driving state of the driver, so as to control the steering of the vehicle together with the torque generated by rotating the steering wheel.
The acquisition terminal 110 shown in fig. 1 may be any terminal device supporting myoelectric signal acquisition, such as a wearable device, but is not limited thereto. The server 120 shown in fig. 1 is a car navigation server, for example, may be an independent physical server, may be a server cluster or a distributed system formed by a plurality of physical servers, or may be a cloud server providing 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, a content delivery network), and basic cloud computing services such as big data and an artificial intelligence platform, which are not limited herein. The acquisition 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 below, including:
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 turning a steering wheel, and the second steering torque value is generated by an automatic driving system turning the steering wheel;
in step S210, after the driver turns the steering wheel, the first steering torque value is obtained by the corresponding sensor, and the second steering torque value is a torque value generated by turning the steering wheel when the automobile performs 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 time and space in numerous muscle fibers. The surface electromyographic signals (surface electromyogram, SEMG) are the combined effect of the electrical activity on the superficial muscles and nerve trunks on the skin surface, reflecting the activity of the neuromuscular to a certain extent; in this embodiment, the muscle target positions that can reflect the driving state of the driver include the subscapular muscle, the latissimus dorsi, and the long head of the triceps brachii;
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 level value is greater than the preset threshold value, it is indicated that the muscle activation level is high, and in this embodiment, this state is regarded as the driver being in a tense state; otherwise, the driver is regarded as being 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 in a state of handling some bursts, and a stronger desire to take over driving authority appears, and the weight of the first steering torque is increased at this time; conversely, when the driver is in a relaxed state, the weight of the first steering torque is reduced.
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 weighted integrated torque value, so as to achieve the purpose of jointly taking over steering control by the driver and the automatic driving system.
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 myoelectric signal of the target position to obtain the muscle activation level 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 myoelectric signal is very weak, in order to avoid the interference signal affecting the measurement accuracy, the original signal should be filtered during the myoelectric signal processing to filter the interference signal. The invention adopts band-pass filtering to process, the upper and lower limits of the pass band cut-off frequency are 30Hz and 120Hz, and the upper and lower limits of the stop band cut-off frequency are 20Hz and 130Hz.
S320, acquiring electromyographic signal voltage data from the electromyographic signals of the filtered target position, calculating an electromyographic signal effective value RMS according to the electromyographic signal voltage data, wherein the mathematical expression for calculating the electromyographic signal effective value RMS is as follows:
wherein T is the length of a window function, e (T) is electromyographic signal voltage data, and T is a time parameter;
in step S320, in consideration of individual differences between drivers, such as subcutaneous fat layer thickness, skin impedance, etc., the electromyographic signal amplitude is directly affected, and the electromyographic signal needs to be normalized to eliminate the individual differences. In this embodiment, the electromyographic signal is normalized by calculating the effective value RMS of the electromyographic signal.
S330, 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 is contracted most autonomously;
in step S330, 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 autonomous contraction of the muscle, that is, the% MVC method, is calculated to obtain the muscle activation degree R. Electromyographic signal effective value RMS at maximum voluntary contraction of muscle 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 level value of the target position includes a muscle activation level value R of the subscapular muscle 1 Value of degree of muscle activation of latissimus dorsi R 2 Value of degree of muscle activation of long head of triceps brachii 3 The method comprises the steps of carrying out a first treatment on the surface of the The process of comparing the muscle activation level 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 below
S410, setting the muscle activation degree value R of the subscapular muscle 1 Threshold value R of muscle activation degree of subscapular muscle 1S Comparing the muscle activation degree value R of the latissimus dorsi 2 Threshold value R for degree of muscular activation with latissimus dorsi 2S Comparing, and comparing the muscle activation degree value R of the long head of the triceps brachii 3 A threshold value R of the degree of activation of the muscle with the long head of the triceps brachii 3S Comparing;
in step S410, a threshold value R of the muscle activation degree of the subscapular muscle 1S Threshold value R for activation of muscles of latissimus dorsi 2S Threshold value R of muscle activation degree of long head of triceps brachii 3S The method comprises the following steps of needing to be preset;
s420, at the same time satisfy R 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When the driver is in tension, the driver is judged;
in step S420, when the degree of activation of the muscle (Muscle Activation) is high, it is indicated that the driver is more forcefully performing driving behavior, and thus it can be determined that the driver is in a tense state;
s430, in the absence ofCan simultaneously satisfy R 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When the driver is in a relaxed state, it is determined.
In step S430, when the degree of activation of the muscle is low, it is indicated that the driver does not put in great effort to perform driving behavior, 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 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 below:
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 (2) is:
T r ＝T h a r -T a (1-a r ) (3)
wherein T is h Is a first steering torque value; a, a r When the driver is in a relaxed state, the first steering torque value T h Weight value of (2); t (T) a A second steering torque value; 1-a r The second steering torque value T when the driver is in a relaxed state a Is a weight value of (a).
In step S510, a first integrated torque value T r Which is the last steering wheel torque output.
In some embodiments, the process of steering the automobile 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 integrated torque value T r And steering control is carried out on the automobile.
In step S610, the driver in a relaxed state takes over less authority for steering, and most of the steering authority is assigned to the automated driving system.
In some embodiments, the process of obtaining the integrated torque value by performing weighted average operation on the first steering torque value and the second steering torque value according to the driving state may include step S710, which is described in detail below:
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 (2) is:
T t ＝T h a t -T a (1-a t ) (4)
wherein T is h Is a first steering torque value; a, a t When the driver is in tension, the first steering torque value T h Weight value of (2); t (T) a A second steering torque value; 1-a t The second steering torque value T when the driver is in tension a Is a weight value of (a).
In step S710, a second integrated torque value T t Which is the last steering wheel torque output.
In some embodiments, the process of steering the automobile according to the integrated torque value may include step S810, which is described in detail as follows:
s810, when the driver is in a tension state, according to the second comprehensive torque value T t And steering control is carried out on the automobile.
In step S810, the driver in tension takes over the steering more, and most of the steering authority is allocated to the driver.
As shown in fig. 5, the specific implementation of this embodiment is that first, the myoelectric signal of the muscle surface strongly related to the steering operation of the driver needs to be collected, and then the muscle activation degree is calculated according to the myoelectric signal; judging whether the muscle activation degree meets a threshold condition, and under the condition that the threshold condition is met, judging that the driver is in a tension state, and outputting a second comprehensive torque value T t The method comprises the steps of carrying out a first treatment on the surface of the Under the condition that the threshold condition is not met, judging that the driver is in a relaxed state, and outputting a first comprehensive torque value T r The method comprises the steps of carrying out a first treatment on the surface of the In addition, it should be noted that, in the weight value a t Greater than the weight value a r 。
According to the haptic feedback type vehicle steering control method, the muscle activation degree value of the target position of the driver is obtained through calculation of the electromyographic signals 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 steering the automobile according to the comprehensive torque value. According to the invention, the first steering torque value generated when the driver rotates the steering wheel and the second steering torque value generated when the automobile automatic driving system rotates the steering wheel are distributed according to the driving state of the driver, so that the driver participates in driving in the whole course; not only realizing automatic driving to a certain extent, but also ensuring driving safety.
As shown in fig. 6, the present invention also provides a haptic feedback type vehicle steering control system including:
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 turning a steering wheel, and the second steering torque value is generated by an automatic driving system turning the steering wheel;
the first operation module is used for operating the electromyographic signals of the target position to obtain a muscle activation degree value 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 a 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 steering the automobile according to the comprehensive torque value.
According to the haptic feedback type vehicle steering control system, the muscle activation degree value of the target position of the driver is obtained through calculation of the electromyographic signals 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 steering the automobile according to the comprehensive torque value. According to the invention, the first steering torque value generated when the driver rotates the steering wheel and the second steering torque value generated when the automobile automatic driving system rotates the steering wheel are distributed according to the driving state of the driver, so that the driver participates in driving in the whole course; not only realizing automatic driving to a certain extent, but also ensuring driving safety.
It should be noted that, the haptic feedback steering control system provided in the above embodiment and the haptic feedback steering control method provided in the above embodiment belong to the same concept, and the specific manner in which each module and unit perform the operation has been described in detail in the method embodiment, which is not repeated here. In practical application, the haptic feedback steering control system provided in the above embodiment may distribute the functions to be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above, which is not limited herein.
The embodiment of the application also provides electronic equipment, which comprises: one or more processors; and a storage device for storing one or more programs that, when executed by the one or more processors, cause the electronic device to implement the haptic feedback steering control method provided in the respective embodiments described above.
Fig. 7 shows a schematic diagram of a computer system suitable for use in implementing the electronic device of the embodiments 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 impose any limitation on the functions and the application scope of the embodiments of the present application.
As shown in fig. 7, the computer system 700 includes a central processing unit (Central Processing Unit, CPU) 701 that can perform various appropriate actions and processes, such as performing 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 (Random Access Memory, RAM) 703. In the RAM 703, various programs and data required for the system operation are also stored. The CPU 701, ROM 702, and RAM 703 are connected to each other through a bus 704. An Input/Output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input section 706 including a keyboard, a mouse, and the like; an output section 707 including a Cathode Ray Tube (CRT), a liquid crystal display (Liquid Crystal Display, LCD), and the like, a speaker, and the like; a storage section 708 including a hard disk or 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. The 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 installed on the drive 710 as needed, so that a computer program read out therefrom is installed into the storage section 708 as needed.
In particular, according to embodiments of the present application, the processes described above with reference to flowcharts 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 shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 709, and/or installed from the removable medium 711. When executed by a Central Processing Unit (CPU) 701, performs the various functions defined in the system of the present application.
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 thereof. 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 (Erasable Programmable Read Only Memory, EPROM), 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 include a data signal propagated in baseband or as part of a carrier wave, with a computer-readable computer program embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. 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. A computer program embodied on a 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 flowcharts 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. Where 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 involved in the embodiments of the present application may be implemented by means of software, or may be implemented by means of hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
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 alone without being incorporated in the electronic device.
Another aspect of the present 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 so that the computer device performs the haptic feedback steering control method provided in the above-described respective embodiments.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (8)
1. The haptic feedback type vehicle steering control method is characterized by comprising 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 turning a steering wheel, and the second steering torque value is generated by an automatic driving system turning 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 a driver according to the comparison result;
and 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, wherein the method comprises the following steps of:
if 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 (2) is:
T r ＝T h a r -T a (1-a r )
wherein T is h Is a first steering torque value; a, a r When the driver is in a relaxed state, the first steering torque value T h Weight value of (2); t (T) a A second steering torque value; 1-a r The second steering torque value T when the driver is in a relaxed state a Weight value of (2);
or alternatively, the first and second heat exchangers may be,
if 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 (2) is:
T t ＝T h a t -T a (1-a t )
wherein T is h Is a first steering torque value; a, a t When the driver is in tension, the first steering torque value T h Weight value of (2); t (T) a A second steering torque value; 1-a t The second steering torque value T when the driver is in tension a Weight value of (2);
and steering the automobile according to the comprehensive torque value.
2. The haptic feedback vehicle steering control method of claim 1, wherein calculating the electromyographic signal of the target position to obtain the muscle activation level value of the driver target position includes:
band-pass filtering is carried out on the electromyographic signals of the target position;
the electromyographic signal voltage data is obtained from the electromyographic signals of the filtered target position, the electromyographic signal effective value RMS is calculated according to the electromyographic signal voltage data, and the mathematical expression for calculating the electromyographic signal effective value RMS is as follows:
wherein T is the length of a window function, 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 is contracted most autonomously.
3. A haptic feedback vehicle steering control method as recited in claim 1 wherein said muscle activation level value of said target location includes a subscapular muscle activation level value R 1 Value of degree of muscle activation of latissimus dorsi R 2 Value of degree of muscle activation of long head of triceps brachii 3 The method comprises the steps of carrying out a first treatment on the surface of the 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 method comprises the following steps:
value of the degree of muscle activation of the subscapular muscle R 1 And shoulderThreshold value R of muscle activation degree of subscapular muscle 1S Comparing the muscle activation degree value R of the latissimus dorsi 2 Threshold value R for degree of muscular activation with latissimus dorsi 2S Comparing, and comparing the muscle activation degree value R of the long head of the triceps brachii 3 A threshold value R of the degree of activation of the muscle with the long head of the triceps brachii 3S Comparing;
at the same time satisfy R 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When the driver is in tension, the driver is judged;
at the same time not meeting R 1 ＞R 1S 、R 2 ＞R 2S 、R 3 ＞R 3S When the driver is in a relaxed state, it is determined.
4. A steering control method of a vehicle according to any one of claims 1 to 3, characterized in that 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 steering control is carried out on the automobile.
5. A steering control method of a vehicle according to any one of claims 1 to 3, characterized in that steering control of the vehicle according to the integrated torque value includes:
according to the second integrated torque value T when the driver is in tension t And steering control is carried out on the automobile.
6. 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 turning a steering wheel, and the second steering torque value is generated by an automatic driving system turning the steering wheel;
the first operation module is used for operating the electromyographic signals of the target position to obtain a muscle activation degree value 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 a 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 comprises one of the following modes:
if 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 (2) is:
T r ＝T h a r -T a (1-a r )
wherein T is h Is a first steering torque value; a, a r When the driver is in a relaxed state, the first steering torque value T h Weight value of (2); t (T) a A second steering torque value; 1-a r The second steering torque value T when the driver is in a relaxed state a Weight value of (2);
or alternatively, the first and second heat exchangers may be,
if 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 (2) is:
T t ＝T h a t -T a (1-a t )
wherein T is h Is a first steering torque value; a, a t When the driver is in tension, the first steering torque value T h Weight value of (2); t (T) a A second steering torque value; 1-a t The second steering torque value T when the driver is in tension a Weight value of (2);
and the steering control module is used for steering the automobile according to the comprehensive torque value.
7. An electronic device, the electronic device comprising:
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 1-5.
8. A computer-readable storage medium, having stored thereon a computer program which, when executed by a processor of a computer, causes the computer to perform the haptic feedback vehicle steering control method of any one of claims 1 to 5.
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| JP2002230699A (en) * | 2001-01-31 | 2002-08-16 | Mazda Motor Corp | Operation load judgment device, operation load judgment method, computer program for executing said method, and storage medium with said computer program stored therein |
| JP2004344357A (en) * | 2003-05-22 | 2004-12-09 | Mazda Motor Corp | Steering characteristic analyzer and steering characteristic setting method of automobile |
| JP2008247119A (en) * | 2007-03-29 | 2008-10-16 | Mazda Motor Corp | Operation support device for vehicle |
| JP4591541B2 (en) * | 2008-05-14 | 2010-12-01 | 横浜ゴム株式会社 | Vehicle running condition evaluation method and evaluation apparatus therefor |
| JP5621559B2 (en) * | 2010-12-02 | 2014-11-12 | 日産自動車株式会社 | Steering reaction force adjustment device for moving body |
| GB2574877B (en) * | 2018-06-22 | 2020-10-28 | Jaguar Land Rover Ltd | Apparatus and methods for controlling a transition between driving modes |
| CN111976733B (en) * | 2020-08-27 | 2021-11-12 | 清华大学 | Method and system for continuously predicting steering intention of driver |
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