CN116461535A - Steering wheel holding state detection method, device and storage medium - Google Patents

Steering wheel holding state detection method, device and storage medium Download PDF

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Publication number
CN116461535A
CN116461535A CN202310255741.3A CN202310255741A CN116461535A CN 116461535 A CN116461535 A CN 116461535A CN 202310255741 A CN202310255741 A CN 202310255741A CN 116461535 A CN116461535 A CN 116461535A
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China
Prior art keywords
torque
steering wheel
period number
determining
vehicle
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Inventor
张鸿
王宇
张建
公博健
周添
李春善
徐丹琳
高靖博
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FAW Group Corp
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FAW Group Corp
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Priority to CN202310255741.3A priority Critical patent/CN116461535A/en
Publication of CN116461535A publication Critical patent/CN116461535A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
    • B60W40/09—Driving style or behaviour
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • 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
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Steering Mechanism (AREA)

Abstract

The invention discloses a method and a device for detecting a steering wheel holding state and a storage medium. The method comprises the following steps: acquiring a first torque applied to a steering wheel of the vehicle by a torque sensor; determining a reference period number of the steering wheel according to the speed of the vehicle, and determining a second torque of the steering wheel according to the first torque and the reference period number; and determining the holding state of the steering wheel according to the second torque. According to the technical scheme provided by the embodiment of the invention, the holding state of the steering wheel can be accurately determined, and the accuracy of detecting the holding state of the steering wheel is improved, so that the driving safety is improved.

Description

Steering wheel holding state detection method, device and storage medium
Technical Field
The present invention relates to the field of safe driving technologies, and in particular, to a method and apparatus for detecting a steering wheel holding state, and a storage medium.
Background
Today, automated driving techniques have not reached a fully automated level, requiring the driver to take over the vehicle at any time to handle the emergency. During automatic driving of the vehicle, if the driver's hand is separated from the steering wheel for a long time, the driver's reaction becomes slow, and it may be impossible to take over the vehicle in time. Therefore, when the vehicle is automatically driven, it is necessary to detect the state of the vehicle being out of hand, thereby preventing the driver's hand from leaving the steering wheel for a long time and ensuring the running safety.
The torque sensor in the electric power steering system is mainly used for detecting the hand torque applied by a driver to a steering wheel, so that whether the driver is out of hand is judged, road surface interference is easy, when the driver is actually out of hand, the torque sensor can detect larger torque fluctuation, the system is erroneously identified as that the driver is not out of hand, the accuracy of the out-of-hand state detection is lower, and the driving safety is influenced.
Disclosure of Invention
The invention provides a method and a device for detecting a steering wheel holding state and a storage medium, which are used for solving the problem that the driving safety is affected due to lower accuracy of detecting a hand-off state in the prior art.
According to an aspect of the present invention, there is provided a method of detecting a holding state of a steering wheel, the method comprising:
acquiring a first torque applied to a steering wheel of the vehicle by a torque sensor;
determining a reference period number of the steering wheel according to the speed of the vehicle, and determining a second torque of the steering wheel according to the first torque and the reference period number;
and determining the holding state of the steering wheel according to the second torque.
According to another aspect of the present invention, there is provided a steering wheel holding state detection apparatus including:
a torque acquisition module for acquiring a first torque applied to a steering wheel of the vehicle by a torque sensor;
a torque determining module, configured to determine a reference period number of the steering wheel according to a vehicle speed of the vehicle, and determine a second torque of the steering wheel according to the first torque and the reference period number;
and the holding state determining module is used for determining the holding state of the steering wheel according to the second torque.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the method for detecting a steering wheel grip state according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to execute a method for detecting a steering wheel holding state according to any one of the embodiments of the present invention.
According to the technical scheme, a first torque applied to a steering wheel of the vehicle is collected through a torque sensor; determining a reference period number of the steering wheel according to the speed of the vehicle, and determining a second torque of the steering wheel according to the first torque and the reference period number; the holding state of the steering wheel is determined according to the second torque, the technical problem that the accuracy of detecting the hand-off state is low is solved, the accuracy of detecting the holding state of the steering wheel is improved, and the driving safety is effectively guaranteed.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for detecting a holding state of a steering wheel according to a first embodiment of the present invention;
fig. 2 is a flowchart of a method for detecting a holding state of a steering wheel according to a second embodiment of the present invention;
fig. 3 is a flowchart of a method for detecting a holding state of a steering wheel according to a third embodiment of the present invention;
fig. 4 is a schematic structural view of a steering wheel holding state detecting device according to a third embodiment of the present invention;
fig. 5 is a schematic structural diagram of an electronic device implementing a method for detecting a steering wheel holding state according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a method for detecting a steering wheel holding state according to an embodiment of the present invention, where the method may be performed by a device for detecting a steering wheel holding state, and the device for detecting a steering wheel holding state may be implemented in hardware and/or software, and the device for detecting a steering wheel holding state may be configured in an electronic device.
As shown in fig. 1, the method includes:
s110, acquiring a first torque applied to a steering wheel of the vehicle through a torque sensor.
The torque sensor may be a torque meter for sensing torque on various rotating or non-rotating mechanical components. The torque sensor may convert a physical change in torque force into an electrical signal. The torque sensor provided on the steering wheel of the vehicle may be one or more. The torque may be a torque that causes the object to rotate. The first torque may be a torque applied to the steering wheel detected in a case where the vehicle speed of the vehicle is not zero.
Optionally, in the case where the vehicle speed of the vehicle is not zero, the first torque applied to the steering wheel of the vehicle is acquired by a torque sensor. It will be appreciated that when the vehicle speed is zero, the vehicle is stationary and is relatively safe to travel, and the first torque may not be detected. The speed of the vehicle may be detected by a speed sensor. The advantage of this arrangement is that it avoids wasting resources by detecting torque while the vehicle is stationary.
Alternatively, in the case where the vehicle speed of the vehicle is not zero, acquiring, by the torque sensor, the first torque applied to the steering wheel of the vehicle may include: the vehicle speed sensor detects the vehicle speed of the vehicle, judges whether the vehicle speed is zero, and if the vehicle speed is not zero, the torque sensor detects the torque applied to the steering wheel, and the first torque is determined based on the detected torque value.
Optionally, the acquiring, by the torque sensor, the first torque applied to the steering wheel of the vehicle may include: determining effective sensors in the torque sensors according to the effective signals sent by the torque sensors when the number of the torque sensors is two or more; a first torque applied to a steering wheel of the vehicle is determined by a torque value signal sent by the active sensor.
The validity signal may be a signal identifying whether the torque value signal is valid, and the valid signal may be represented by a letter or a number. For example: 1 represents active, 0 represents inactive, or Y represents active, N represents inactive, etc. The validity signal and the validity sensor may be in a one-to-one correspondence.
According to the embodiment of the invention, the effective sensor is determined according to the effective signal sent by the torque sensor, and then the first torque applied to the steering wheel of the vehicle is determined according to the torque value signal sent by the effective sensor, so that the accuracy of torque detection is improved, and the effectiveness of torque detection is ensured.
It is understood that in the case where the number of the torque sensors is one, the torque value signal transmitted by the torque sensor is taken as the first torque applied to the steering wheel of the vehicle.
S120, determining the reference period number of the steering wheel according to the speed of the vehicle, and determining the second torque of the steering wheel according to the first torque and the reference period number.
The reference period number may be understood as a period window or a time window in which the first torque of the steering wheel is acquired. In the embodiment of the invention, the reference period number may be set according to the vehicle speed. Different vehicle speed ranges may correspond to different reference period numbers. The second torque may be a torque value calculated from the first torque and the number of reference cycles.
Optionally, the determining the reference period number of the steering wheel according to the vehicle speed of the vehicle may include: and determining the reference period number of the steering wheel according to the corresponding relation between the preset vehicle speed and the reference period number and the vehicle speed of the vehicle, wherein the vehicle speed and the reference period number are in a negative correlation relation.
It is understood that the higher the vehicle speed of the vehicle, the smaller the reference cycle number may be set to be in order to secure the running safety. Specifically, the negative correlation between the vehicle speed and the reference period number may include: when the vehicle speed is high, the reference period number is the first reference period number; when the vehicle speed is medium speed, the reference period number is the second reference period number; when the vehicle speed is low, the reference period number is a third reference period number, wherein the second reference period number may be greater than the first reference period number and less than the third reference period number. For example, when the vehicle speed is greater than 60km/h, the vehicle speed is high, and the number of the set first reference periods may be 5; when the vehicle speed is more than 30km/h and less than 60km/h, the vehicle speed is medium speed, and the number of the second reference periods can be set to be 10; when the vehicle speed is less than 30km/h and is not zero, the vehicle speed is low, and the number of the set first reference periods may be 20.
In the embodiment of the invention, the number of the reference periods of the steering wheel is determined according to the speed of the vehicle, and the second torque of the steering wheel is determined according to the first torques acquired by a plurality of reference periods. The advantage of setting like this lies in, can judge the change of moment of torsion more accurately, sets up different reference cycle quantity according to different speed of a motor vehicle, can balance the smoothness demand and the instantaneity demand of moment of torsion under the different speed of a motor vehicle, has improved the accuracy that the state of gripping of steering wheel detected, guarantees the security of traveling.
S130, determining the holding state of the steering wheel according to the second torque.
Wherein the holding state of the steering wheel may be used to indicate whether the driver's hand is out of the steering wheel, i.e. a hands-off state and a non-hands-off state.
Optionally, the determining the holding state of the steering wheel according to the second torque may include: if the absolute value of the second torque is detected to be smaller than a preset first torque threshold value and the duration time reaches a preset first time length under the condition that the current holding state of the steering wheel is a non-hand-off state, switching the holding state of the steering wheel to a hand-off state; and under the condition that the current holding state of the steering wheel is a hands-off state, if the second torque absolute value is detected to be larger than or equal to a preset second torque threshold value and the duration time reaches a preset second duration time, switching the holding state of the steering wheel to a non-hands-off state.
The first torque threshold is a torque threshold for judging that the holding state of the steering wheel is a hands-off state. The second torque threshold is a torque threshold for judging that the holding state of the steering wheel is a non-hands-off state. It is understood that the first torque threshold value and the second torque threshold value may be preset empirically by those skilled in the art, and the present embodiment is not limited thereto.
Optionally, the determining the holding state of the steering wheel according to the second torque includes: if the absolute value of the second torque is detected to be smaller than a preset first torque threshold value under the condition that the current holding state of the steering wheel is in a non-hand-off state, if the duration time does not reach a preset first duration time, the holding state of the steering wheel is determined to be still in the non-hand-off state, and switching is not performed;
and under the condition that the current holding state of the steering wheel is a hands-off state, if the absolute value of the second torque is detected to be larger than or equal to a preset second torque threshold value, and the duration time does not reach a preset second duration time, determining that the holding state of the steering wheel is still the hands-off state and not switching.
In the embodiment of the invention, the holding state of the steering wheel is determined through the second torque value, and whether the current holding state of the steering wheel is switched or not is judged through the relation between the absolute value of the second torque and the preset torque threshold value and the relation between the duration time and the preset duration time, so that the accuracy of switching the holding state of the steering wheel is improved, and the running safety is effectively ensured.
According to the technical scheme of the embodiment, a first torque applied to a steering wheel of the vehicle is collected through a torque sensor; determining a reference period number of the steering wheel according to the speed of the vehicle, and determining a second torque of the steering wheel according to the first torque and the reference period number; according to the second torque, the holding state of the steering wheel is determined, the problems that the accuracy of detecting the hand-off state is low and the running safety cannot be guaranteed are solved, the accuracy of detecting the torque is improved, the accuracy of detecting the holding state of the steering wheel is improved, and the running safety is effectively guaranteed.
Example two
Fig. 2 is a flowchart of a method for detecting a holding state of a steering wheel according to a second embodiment of the present invention, and the embodiment is further elaborated on the foregoing embodiment. As shown in fig. 2, the method includes:
s210, acquiring a first torque applied to a steering wheel of the vehicle through a torque sensor.
S220, determining the first period number and the second period number according to the reference period number.
Wherein the first period number and the second period number may be determined according to the reference period number. For example, half of the reference period number may be regarded as the first period number and half of the reference period number may be regarded as the second period number. Alternatively, the reference period in the embodiment of the present invention may be selected with reference to the current time in a direction from the current time to an earlier time. In other words, a preset number of reference periods before the current time may be selected.
S230, determining a second torque of the steering wheel according to the first torques corresponding to the reference periods in the first period number and the second period number.
It will be appreciated that, to accurately determine the average value of the torque of the continuous period, the number of continuous periods may be selected and calculated as required, and this embodiment is not limited thereto.
Optionally, the second torque of the steering wheel is comprehensively determined according to the first torque corresponding to each reference period in the first period number and the first torque corresponding to each reference period in the second period number.
Optionally, calculating a first average value of the first torque corresponding to each reference period in the first period number; calculating a second average value of the first torque corresponding to each reference period in the second period number; and determining a second torque of the steering wheel according to the first average value and the second average value.
Specifically, a first average value of the first torque is obtained by adding the first torque values corresponding to the respective reference periods, and dividing the sum of the first torque values by the first period number. Illustratively, the reference period number is W, the first period number isSpecifically, the first average value of the first torque corresponding to each reference period in the first period number may be calculated based on the following formula:
wherein T represents a torque value, n represents an nth reference period, T n A first torque for the nth reference period,is continuous->The average of the torque for each reference period, the first average.
And calculating a second average value of the first torque corresponding to each reference period in the second period number, wherein the second average value of the first torque can be obtained by adding the first torque values corresponding to each reference period in the second period number and dividing the sum of the first torque values by the second period number. Illustratively, the second number of periods is W, and specifically, may be calculated based on the following formula:
wherein T represents a torque value, T n A first torque of the nth reference period, T W,n For a second average of consecutive W periods, n represents the nth reference period and W is the second number of periods.
Optionally, the determining the second torque of the steering wheel according to the first average value and the second average value includes: determining a reduced number and a reduced number in the first average value and the second average value according to the first period number and the second period number; and multiplying the subtracted number by the ratio of the second period number to the first period number, and subtracting the subtracted number to obtain the second torque of the steering wheel.
Exemplary, when the second number of periods is W, the first number of periods isWhen the ratio of the second period number to the first period number is 2.
Specifically, the calculation can be performed based on the following formula:
wherein T is new,n As a result of the second torque being applied,is a first average value, T W,n Is the second average value.
Further, after determining the second torque of the steering wheel according to the first torque corresponding to each reference period in the first period number and the second period number, the method further includes: and determining a third period number according to the reference period number, calculating a third average value of the second torque corresponding to each reference period in the third period number, and updating the third average value to the second torque of the steering wheel.
It should be noted that the third period number may be determined according to the reference period number, and the third period number may be the same as or different from the reference period number, which is not limited to a specific value in the embodiment. For example, the third number of periods may be less than the reference number of periods.
Optionally, the determining a third period number according to the reference period number calculates a third average value of the second torque corresponding to each reference period in the third period number, and in this embodiment of the present invention, the third period number is taken asFor example, explanation will be given. Wherein the third average value may be calculated based on the following formula:
wherein T is the third average value of the second torque, T new,n A second torque for the nth reference period,a third number of cycles.
S240, determining the holding state of the steering wheel according to the second torque.
Optionally, the holding state of the steering wheel is determined according to the processed second torque value, and the holding state of the steering wheel at the current moment is determined according to the processed second torque value closest to the current moment, so that the holding state of the steering wheel is updated.
According to the technical scheme, the first torque corresponding to each reference period in the first period number and the second period number is calculated, the average value of the torques corresponding to each reference period in the first period number and the second period number is calculated respectively, the subtracted number and the subtracted number are determined, the subtracted number is multiplied by the ratio of the second period number to the first period number, then the subtracted number is subtracted, the second torque of the steering wheel is obtained, the third average value of the second torque corresponding to each reference period in the third period number can be calculated, the third average value is updated to the second torque of the steering wheel, the second torque of the steering wheel is determined, the problems that the accuracy of detecting the out-of-hand state is low and the driving safety cannot be guaranteed are solved, the accuracy of detecting the torque is improved, the accuracy of detecting the holding state of the steering wheel is improved, and the driving safety is effectively guaranteed.
Fig. 3 provides a flow chart of a method for detecting a steering wheel holding state. As shown in fig. 3, the method for detecting the holding state of the steering wheel specifically includes the following steps:
the first step, detecting the vehicle speed through a vehicle speed sensor;
judging whether the vehicle speed is equal to 0 or not, if the vehicle speed is equal to 0, indicating that the vehicle is in a stationary state at the moment, and not detecting the holding state of the steering wheel;
third, when the vehicle speed is not equal to 0, the torque applied to the steering wheel is detected by a torque sensor, and the first torque sensor detects a first torque T 1 The second torque sensor detects a second torque T 2 ；
Fourthly, processing the detected torque according to a processing method to obtain a processed torque T;
the processing method specifically comprises the following steps:
(1) If both the first torque and the second torque are valid (the validity information is from a torque sensor which sends a torque value signal and a validity signal, such as 0 for invalid and 1 for valid), then the torque T of the current reference period number is specified n Equal to the first torque T 1 With a second torque T 2 Average value of (i), i.eIf the first torque is invalid, the torque T of the current reference period number is regulated n Equal to the second torque T 2 T, i.e n ＝T 2 The method comprises the steps of carrying out a first treatment on the surface of the If the second torque is invalid, the torque T of the current reference period number is regulated n Equal to the first torque T 1 T, i.e n ＝T 1 The method comprises the steps of carrying out a first treatment on the surface of the If the first torque and the second torque are invalid, the system stops running.
(2) The reference period number W is set according to the difference in vehicle speed. The number of the reference periods influences the smoothness and instantaneity of the processed torque, and the larger the number of the reference periods is, the smoother the processed torque is, the smaller the fluctuation is, but the larger delay is brought correspondingly; the smaller the number of reference cycles, the better the processed torque instantaneity, but the smoothness is not good. Therefore, different reference period numbers are set according to different vehicle speeds, and when the vehicle speed is low, certain delay can be allowed, smoothness is ensured, and the accuracy of detecting the hands-off state is improved, so that the reference period number is set to be larger; when the vehicle speed is high, excessive delay is not allowed in order to ensure running safety, and real-time performance of the detection of the hands-off state is ensured, so the number of reference periods is set smaller. The relation of the reference cycle number W to the vehicle speed v may be as follows:
wherein W is 1 、W 2 、W 3 The calibration amounts are all the calibration amounts, and can be properly adjusted according to actual conditions.
(3) Calculation of continuityCycle (if->Not an integer, then rounded) torque average, i.e
(4) Calculating the average of the torques for successive W cycles, i.e
(5) Calculated to obtain
(6) Calculation of continuityCycle (if->Rounding if not an integer) T new Average of (2), to obtain a second torque, i.e
And fifthly, comparing the processed second torque T with a preset torque threshold value in real time, and judging the steering wheel holding state according to a judging method.
The judging method in the fifth step specifically means: when the vehicle is powered on, the default is judged to be in a hands-off state. The transition condition from the hands-off state to the non-hands-off state is that the absolute value of the second torque |T| is greater than or equal to a preset second torque threshold T 2 And the duration reaches a preset second duration t 2 If the condition is satisfied, the operation is switched from the hands-off state to the non-hands-off state, and if the condition is not satisfied, the operation is still the hands-off state. The transition condition from the non-slip state to the slip state is that the absolute value of the second torque |T| is smaller than the preset first torque threshold T 1 And the duration reaches a preset first time length t 1 If the condition is satisfied, the state is changed from the non-hands-off state to the hands-off state, and if the condition is not satisfied, the state is still the non-hands-off state.
Wherein, a first torque threshold T is preset 1 Presetting a second torque threshold T 2 Preset a first time length t 1 Presetting a second time period t 2 Are all calibrated, and are set according to actual conditions, such as setting T 1 0.4Nm, T 2 0.5Nm, t 1 5s, t 2 0.02s.
According to the technical scheme, under the condition that the vehicle speed is not zero, the first torque applied to the steering wheel of the vehicle is collected through the torque sensor, the reference period number of the steering wheel is determined according to the vehicle speed, the first torques corresponding to the reference periods in the first period number and the second period number are calculated, the average value of the torques corresponding to the reference periods in the first period number and the second period number is calculated respectively, the subtracted number and the subtracted number are determined, the subtracted number is multiplied by the ratio of the second period number to the first period number, then the subtracted number is subtracted, the second torques of the steering wheel are obtained, the third average value of the second torques corresponding to the reference periods in the third period number can be calculated, the second torques of the steering wheel are determined according to the second torques, the holding state of the steering wheel is determined according to the second torques, the problems that the accuracy of steering wheel holding state detection is low and running safety cannot be guaranteed are solved, the safety of the steering wheel holding state detection is improved, and the effective and running safety effect of the steering state detection is improved.
Example III
Fig. 4 is a schematic structural diagram of a steering wheel holding state detecting device according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes: a torque acquisition module 410, a torque determination module 420, and a grip state determination module 430.
Wherein the torque acquisition module 410 is configured to acquire a first torque applied to a steering wheel of the vehicle by a torque sensor; a torque determining module 420, configured to determine a reference period number of the steering wheel according to a vehicle speed of the vehicle, and determine a second torque of the steering wheel according to the first torque and the reference period number; a holding state determining module 430, configured to determine a holding state of the steering wheel according to the second torque.
According to the technical scheme of the embodiment, a torque acquisition module acquires a first torque applied to a steering wheel of a vehicle through a torque sensor; determining, by a torque determination module, a reference period number of the steering wheel according to a vehicle speed of the vehicle, and determining a second torque of the steering wheel according to the first torque and the reference period number; the holding state of the steering wheel can be determined according to the second torque through the holding state determining module, the problems that the accuracy of detecting the hand-off state is low and the running safety cannot be guaranteed are solved, the accuracy of detecting the torque is improved, the accuracy of detecting the holding state of the steering wheel is improved, and the running safety is effectively guaranteed.
Optionally, the torque determining module is configured to determine the reference period number of the steering wheel according to a preset correspondence between a vehicle speed and the reference period number and a vehicle speed of the vehicle, where the vehicle speed and the reference period number are in a negative correlation.
Optionally, the torque determination module includes:
a reference period determining unit configured to determine a first period number and a second period number according to the reference period number;
and the second torque determining unit is used for determining the second torque of the steering wheel according to the first torques corresponding to the reference periods in the first period number and the second period number.
Optionally, the second torque determining unit includes:
a first average value calculating subunit, configured to calculate a first average value of the first torque corresponding to each reference period in the first period number;
a second average value calculating subunit, configured to calculate a second average value of the first torque corresponding to each reference period in the second period number;
and the second torque determining subunit is used for determining the second torque of the steering wheel according to the first average value and the second average value.
Optionally, the second torque determining subunit is configured to:
determining a reduced number and a reduced number in the first average value and the second average value according to the first period number and the second period number;
and multiplying the subtracted number by the ratio of the second period number to the first period number, and subtracting the subtracted number to obtain the second torque of the steering wheel.
Optionally, the device for detecting a holding state of a steering wheel further includes:
and the second torque updating module is used for determining a third period number according to the reference period number after determining the second torque of the steering wheel according to the first torque corresponding to each reference period in the first period number and the second period number, calculating a third average value of the second torque corresponding to each reference period in the third period number, and updating the third average value to the second torque of the steering wheel.
Optionally, the torque acquisition module includes:
an effective sensor determining unit configured to determine an effective sensor in the torque sensors according to an effective signal transmitted from the torque sensors when the number of the torque sensors is two or more;
and a first torque determining unit for determining a first torque applied to a steering wheel of the vehicle by a torque value signal transmitted from the active sensor.
Optionally, the holding state determining module includes:
the hand-off state switching unit is used for switching the holding state of the steering wheel into a hand-off state if the absolute value of the second torque is detected to be smaller than a preset first torque threshold value and the duration time reaches a preset first time length under the condition that the current holding state of the steering wheel is a non-hand-off state;
and the non-unhooking state switching unit is used for switching the holding state of the steering wheel into a non-unhooking state if the absolute value of the second torque is detected to be larger than or equal to a preset second torque threshold value and the duration time reaches a preset second duration time under the condition that the current holding state of the steering wheel is the unhooking state.
The steering wheel holding state detection device provided by the embodiment of the invention can execute the steering wheel holding state detection method provided by any embodiment of the disclosure, and has the corresponding functional modules and beneficial effects of the execution method.
It should be noted that each unit and module included in the above apparatus are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the embodiments of the present invention.
Example IV
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the various methods and processes described above, such as a method of detecting a steering wheel holding state.
In some embodiments, a method of detecting a steering wheel grip state may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of a method of detecting a steering wheel holding state as described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a method of detecting a steering wheel grip condition in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on 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 or 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.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (11)

1. A method for detecting a steering wheel holding state, comprising:
acquiring a first torque applied to a steering wheel of the vehicle by a torque sensor;
determining a reference period number of the steering wheel according to the speed of the vehicle, and determining a second torque of the steering wheel according to the first torque and the reference period number;
and determining the holding state of the steering wheel according to the second torque.
2. The method of claim 1, wherein the determining the number of reference cycles of the steering wheel based on the vehicle speed of the vehicle comprises:
and determining the reference period number of the steering wheel according to the corresponding relation between the preset vehicle speed and the reference period number and the vehicle speed of the vehicle, wherein the vehicle speed and the reference period number are in a negative correlation relation.
3. The method of claim 1, wherein the determining the second torque of the steering wheel based on the first torque and the reference period number comprises:
determining a first period number and a second period number according to the reference period number;
and determining the second torque of the steering wheel according to the first torques corresponding to the reference periods in the first period number and the second period number.
4. A method according to claim 3, wherein said determining a second torque of the steering wheel from the first torques corresponding to respective reference periods within the first and second numbers of periods comprises:
calculating a first average value of the first torque corresponding to each reference period in the first period number;
calculating a second average value of the first torque corresponding to each reference period in the second period number;
and determining a second torque of the steering wheel according to the first average value and the second average value.
5. The method of claim 4, wherein said determining a second torque of the steering wheel from the first average and the second average comprises:
determining a reduced number and a reduced number in the first average value and the second average value according to the first period number and the second period number;
and multiplying the subtracted number by the ratio of the second period number to the first period number, and subtracting the subtracted number to obtain the second torque of the steering wheel.
6. A method according to claim 3, further comprising, after said determining the second torque of the steering wheel from the first torques corresponding to the respective reference periods within the first and second period numbers:
and determining a third period number according to the reference period number, calculating a third average value of the second torque corresponding to each reference period in the third period number, and updating the third average value to the second torque of the steering wheel.
7. The method of claim 1, wherein the capturing, by a torque sensor, the first torque applied to the steering wheel of the vehicle comprises:
determining effective sensors in the torque sensors according to the effective signals sent by the torque sensors when the number of the torque sensors is two or more;
a first torque applied to a steering wheel of the vehicle is determined by a torque value signal sent by the active sensor.
8. The method of claim 1, wherein the determining the grip state of the steering wheel from the second torque comprises:
if the absolute value of the second torque is detected to be smaller than a preset first torque threshold value and the duration time reaches a preset first time length under the condition that the current holding state of the steering wheel is a non-hand-off state, switching the holding state of the steering wheel to a hand-off state;
and under the condition that the current holding state of the steering wheel is a hands-off state, if the second torque absolute value is detected to be larger than or equal to a preset second torque threshold value and the duration time reaches a preset second duration time, switching the holding state of the steering wheel to a non-hands-off state.
9. The method of claim 1, wherein the capturing, by a torque sensor, the first torque applied to the steering wheel of the vehicle comprises:
in the case where the vehicle speed of the vehicle is not zero, a first torque applied to a steering wheel of the vehicle is acquired by a torque sensor.
10. A steering wheel grip state detection apparatus, comprising:
a torque acquisition module for acquiring a first torque applied to a steering wheel of the vehicle by a torque sensor;
a torque determining module, configured to determine a reference period number of the steering wheel according to a vehicle speed of the vehicle, and determine a second torque of the steering wheel according to the first torque and the reference period number;
and the holding state determining module is used for determining the holding state of the steering wheel according to the second torque.
11. A computer readable storage medium storing computer instructions for causing a processor to perform the method of detecting a steering wheel grip state according to any one of claims 1-9.
CN202310255741.3A 2023-03-16 2023-03-16 Steering wheel holding state detection method, device and storage medium Pending CN116461535A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310255741.3A CN116461535A (en) 2023-03-16 2023-03-16 Steering wheel holding state detection method, device and storage medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310255741.3A CN116461535A (en) 2023-03-16 2023-03-16 Steering wheel holding state detection method, device and storage medium

Publications (1)

Publication Number Publication Date
CN116461535A true CN116461535A (en) 2023-07-21

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Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN116461535A (en)

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