JP2020040581A - Determination system, vehicle control system, vehicle, determination method, and program - Google Patents

Abstract

To detect a holding position of a steering wheel in a vehicle.SOLUTION: A determination system includes: first acquisition means which acquires a value of electrostatic capacitance which varies according to a position of contact with a steering wheel provided at a vehicle; second acquisition means which acquires a value of torque in the steering wheel; and determination means which determines a gripping position of the steering wheel based on the value of the electrostatic capacitance and the value of the torque.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a technique for determining a gripping position of a steering wheel in a vehicle.

  In a vehicle equipped with functions related to automatic driving and advanced driving support, how the driver grips the steering is important information. For example, in the event of a system failure or breakdown, the driver's behavior is controlled by determining that the driver is gripping the steering and driving the vehicle, thereby stabilizing the running state of the vehicle. Becomes possible.

  For example, in Patent Literature 1, whether or not the steering wheel is gripped is detected using a contact detection sensor provided on the steering wheel and a torque sensor for steering.

JP 2018-52379 A

  On the other hand, in a function relating to advanced driving support and the like, there are a plurality of levels (modes) for controlling the vehicle. Depending on each level, required states such as a gripping state and a gripping position on the handle differ. Therefore, for example, the grip state of the steering wheel is determined, and the level at which transition is possible is determined according to the state. In the technique of Patent Document 1, it is possible to detect whether or not the steering wheel is gripped, but it is not possible to detect the grip position of the steering wheel.

  Therefore, an object of the present invention is to detect a gripping position of a steering wheel.

In order to solve the above problems, the present invention has the following configuration. That is, in the determination system,
First acquisition means for acquiring a value of capacitance that varies according to a position of contact with a steering wheel provided in the vehicle;
Second acquisition means for acquiring a value of torque at the steering wheel;
Determining means for determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque.

  According to the present invention, it is possible to detect the grip position of the steering wheel.

1 is a block diagram of a vehicle control device according to an embodiment. FIG. 1 is a diagram showing a conceptual configuration around a steering wheel according to an embodiment. FIG. 2 is a diagram illustrating an example of a software configuration of an ECU according to the embodiment. FIG. 1 is a diagram illustrating a configuration example of a steering wheel according to an embodiment. FIG. 4 is a diagram for explaining a capacitance that varies according to a gripping position of a steering wheel. The figure for demonstrating the electrostatic capacity and torque which fluctuate according to a holding state. 9 is a flowchart of a determination process according to the embodiment.

<First embodiment>
FIG. 1 is a block diagram of a vehicle control device according to one embodiment of the present invention, and controls a vehicle 1. In FIG. 1, a vehicle 1 is schematically shown in a plan view and a side view. The vehicle 1 is, for example, a four-wheel passenger car of a sedan type.

  The control device shown in FIG. The control unit 2 includes a plurality of ECUs 20 to 29 communicably connected by an in-vehicle network. Each ECU functions as a computer including a processor represented by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used by the processor for processing, and the like. Each ECU may include a plurality of processors, storage devices, interfaces, and the like.

  Hereinafter, functions and the like assigned by the ECUs 20 to 29 will be described. Note that the number of ECUs and the functions in charge can be designed as appropriate, and can be subdivided or integrated as compared with the present embodiment.

  The ECU 20 executes control relating to automatic driving of the vehicle 1. In the automatic driving, at least one of the steering of the vehicle 1 and the acceleration / deceleration is automatically controlled. In a control example described later, both steering and acceleration / deceleration are automatically controlled.

  The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism that steers the front wheels according to a driver's driving operation (steering operation) on the steering wheel 31. In addition, the electric power steering device 3 includes a motor that assists a steering operation or exerts a driving force for automatically steering a front wheel, a sensor that detects a steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20, and controls the traveling direction of the vehicle 1.

  The ECUs 22 and 23 control the detection units 41 to 43 that detect the surroundings of the vehicle and perform information processing of the detection results. The detection unit 41 is a camera that captures an image of the front of the vehicle 1 (hereinafter, may be referred to as a camera 41). In the present embodiment, the detection unit 41 is attached to the front window of the vehicle 1 at the front side of the vehicle. Can be By analyzing the image captured by the camera 41, it is possible to extract the outline of the target and to extract the lane markings (white lines, etc.) on the road.

  The detection unit 42 is Light Detection and Ranging (LIDAR: lidar) (hereinafter sometimes referred to as a lidar 42), and detects a target around the vehicle 1 or measures a distance to the target. . In the case of the present embodiment, five riders 42 are provided, one at each corner at the front of the vehicle 1, one at the center of the rear, and one at each side of the rear. The detection unit 43 is a millimeter-wave radar (hereinafter, sometimes referred to as a radar 43), detects a target around the vehicle 1, and measures a distance to the target. In the case of the present embodiment, five radars 43 are provided, one at the front center of the vehicle 1, one at each front corner, and one at each rear corner.

  The ECU 22 controls one camera 41 and each rider 42 and performs information processing of the detection result. The ECU 23 controls the other camera 41 and each radar 43 and performs information processing of detection results. The reliability of the detection results can be improved by providing two sets of devices that detect the surroundings of the vehicle, and the analysis of the surrounding environment of the vehicle by providing different types of detection units such as cameras, lidars, and radars Can be performed from multiple angles.

  The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c and performs information processing of a detection result or a communication result. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, and the like. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information and traffic information, and acquires such information. The ECU 24 can access the map information database 24a constructed in the storage device, and performs a route search from the current location to the destination.

  The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with other nearby vehicles to exchange information between the vehicles.

  The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls, for example, the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, and the like. Is changed based on the information of the transmission. When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 and controls acceleration and deceleration of the vehicle 1.

  The ECU 27 controls a lighting device (a headlight, a taillight, and the like) including the direction indicator 8 (a blinker). In the case of the example in FIG. 1, the direction indicators 8 are provided at the front part, the door mirror, and the rear part of the vehicle 1.

  The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and receives input of information from the driver. The voice output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged, for example, in front of the driver's seat and forms an instrument panel or the like. Here, the sound and the display are exemplified, but the information may be notified by vibration or light. Also, information may be reported by combining a plurality of voices, displays, vibrations, or lights. Furthermore, a combination may be changed or a notification mode may be changed according to the level of information to be notified (for example, urgency).

  The input device 93 is a group of switches arranged at a position operable by the driver and instructing the vehicle 1, but may include a voice input device.

  The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device, and is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by adding resistance to the rotation of the wheel. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20, and controls deceleration and stop of the vehicle 1. The brake device 10 and the parking brake can be operated to maintain the vehicle 1 in a stopped state. Further, when the transmission of the power plant 6 includes a parking lock mechanism, it can be operated to maintain the stopped state of the vehicle 1.

  FIG. 2 is a diagram illustrating a configuration example around a steering wheel according to the present embodiment. The steering wheel 31 is provided with various sensors, and in the present embodiment, includes a capacitance sensor 201 and a torque sensor 202. The capacitance sensor 201 detects the capacitance flowing to the steering wheel 31. The detected value of the capacitance differs depending on the gripping state of the steering wheel 31. The relationship between the detected capacitance and the grip state will be described later with reference to FIG. The torque sensor 202 detects clockwise or counterclockwise steering torque (hereinafter simply referred to as torque) of the steering wheel 31. The detection results of the capacitance sensor 201 and the torque sensor 202 are input to the ECU 21.

  FIG. 3 is a diagram illustrating an example of a software configuration of the ECU 21 that functions as the determination system according to the present embodiment. Here, only parts for the functions according to the present embodiment are shown, and other parts may be included. In the present embodiment, the ECU 21 is configured to include a CPU and a storage unit (not shown), and the CPU reads and executes a program stored in the storage unit to realize each unit illustrated in FIG. Note that the present invention is not limited to this configuration. For example, the configuration may be such that each function of FIG. 3 is provided by a dedicated processing circuit or the like.

  The sensor information acquisition unit 301 acquires information detected by various sensors. In the present embodiment, the detection results of the capacitance sensor 201 and the torque sensor 202 shown in FIG. 2 are obtained. The grip pattern management unit 302 holds a value acquired from each sensor and a grip pattern of the steering wheel 31 in association with each other. This correspondence is defined in advance and is held in a storage unit (not shown). The grip position determination unit 303 determines the grip state of the steering wheel 31 using the information acquired by the sensor information acquisition unit 301 and the grip pattern managed by the grip pattern management unit 302.

[Steering wheel]
FIG. 4 is a diagram illustrating a configuration example of the steering wheel according to the present embodiment. FIG. 4A shows a gripping position on the steering wheel 31. Here, seven positions (positions “1” to “7”) are shown as gripping positions, but the present invention is not limited to this. Further, the shape of the steering wheel 31 is not limited to FIG.

  FIG. 4B shows a configuration example of a region (detection region) of the steering wheel 31 detected by the capacitance sensor 201. In FIG. 4B, a detection area 401 indicated by oblique lines indicates a range where the capacitance can be detected by the capacitance sensor 201. Note that the detection area 401 is not limited to the driver-side surface of the steering wheel 31, but may be provided on the side portion or the back side of the steering wheel 31. In the detection area 401, an electrode made of a capacitance mat or the like is provided on the surface of the steering wheel 31 or in the vicinity thereof (for example, inside the steering wheel). Flows.

  Further, the detection area 401 provided on the steering wheel 31 has a different size depending on the position. In the example of FIG. 4B, the position “3” (position A in FIG. 4B) and the position “6” (B in FIG. 4B) among the gripping positions shown in FIG. ), The detection area of the capacitance sensor 201 is narrow. It is assumed that the detection area 401 is not formed at a position inside the steering wheel 31 (the position of X or Y in FIG. 4B). The positions of X and Y in FIG. 4B are positions where the driver may put a hand or the like on the vehicle while the vehicle is running.

  FIG. 5 is a diagram for explaining a change in a value detected by the capacitance sensor 201 according to a gripping state of the steering wheel 31. 5, the vertical axis indicates the detected capacitance [pF], and the horizontal axis indicates the gripping position illustrated in FIG. 4A. A description will be given of an example in which each position is gripped with one hand.

  The value 501 indicates the capacitance output when the steering wheel 31 is not gripped or when no object is in contact with the steering wheel 31. This indicates a value in a state where the steering wheel 31 can be in contact with a part of the body such as a leg or abdomen in addition to the hand or the arm, but not in contact with the steering wheel 31. The threshold value 502 indicates a threshold value used when it is determined that some object is in contact with the steering wheel 31. The threshold value 502 may be set to a value relative to the value 501, and is set, for example, in a range that is a detection error from the capacitance value 501 in the case of non-holding. Here, threshold value 502 ≧ value 501 is satisfied. Therefore, when a value between the value 501 and the threshold value 502 is detected, the holding state may be “undefined” or may be non-holding. The value 503 indicates the average value of the capacitance detected when the user is gripped at each grip position. A range 504 indicates a range of fluctuation when the object is held at each holding position.

  Although the detected value of the capacitance at the time of being gripped differs depending on the gripping position, it varies depending on the shape of the detection area 401 provided on the steering wheel 31. Specifically, among the gripping positions, when the position “3” and the position “6” are gripped, the value of the capacitance is lower than when the other positions are gripped. This is because the detection area 401 is narrower than other positions as shown in FIG. In addition, the detected capacitance may vary depending on the structure of the vehicle and the characteristics of the driver, such as right-handed or left-handed, right-handed or left-handed steering wheel, but here, the average value of the detection results shown in FIG. The description will be made with reference to FIG.

  FIG. 6 shows an example of the detection result 608 (capacitance [pF]) of the capacitance sensor 201 and the detection result 609 (torque [mN]) of the torque sensor 202 according to the gripping state of the steering wheel 31. Is shown. The detection result 609 of the torque sensor 202 will be described with plus (+) being counterclockwise and minus (−) being clockwise. In FIG. 6, the horizontal axis indicates the passage of time, and the gripping state of the steering wheel 31 of the driver is represented by one-handed gripping (position “3”), release (non-gripping), and gripping with three fingers (knob: position “4”). )).

  At timing 601, one-handed gripping (position “3”) by the driver is started. Accordingly, the capacitance detected by the capacitance sensor 201 has increased. Thereafter, at timing 602, the released capacitance (non-grip) with respect to the steering wheel 31 is performed, and the detected capacitance is reduced. Further, at timing 603, the gripping of the steering wheel 31 with three fingers (three fingers: position “4”) increases the detected capacitance, and at timing 604 when the three fingers are terminated. The detected capacitance decreases. At this time, the capacitance detected during the period 607 of the three-finger operation is lower than the capacitance detected during the period 605 of holding one hand. This is because the range in which the object (hand) is in contact with the detection area of the steering wheel 31 is smaller with the three-finger knob than with the one-hand grip.

  In addition, as shown in FIG. 6, the fluctuation of the steering torque is detected by the torque sensor 202 in the period 605 of holding one hand and the period 607 of holding three fingers. This is because, by performing gripping, a torque is generated by an operation on the steering wheel 31 or a load by an object such as a hand. On the other hand, during the release period 606, the fluctuation of the steering torque detected by the torque sensor 202 is smaller than during the contact periods 605 and 607.

  As shown in FIG. 6, the detection results of the capacitance sensor 201 and the torque sensor 202 also change at substantially the same timing as the grip state changes. In the present embodiment, the grip state of the steering wheel 31 is determined using the two detection results.

  Although not shown in FIG. 6, even when two positions (for example, the symmetric positions “2” and “7”) of the positions shown in FIG. Since a difference occurs in the load (operation), the torque is detected.

[Processing flow]
FIG. 7 shows a flowchart of the grip determination process according to the present embodiment. This processing flow is realized by the CPU of the ECU 21 reading and executing a program stored in the storage unit. This processing flow is started when it is necessary to monitor the gripping state of the steering wheel 31 by the driver, for example, when the vehicle transits to a mode for performing driving support control.

In the present embodiment, assuming the grip position shown in FIG. 4A, a grip pattern is defined as follows as an example.
Grip pattern 1: One-handed grip at any of positions "1", "2", "4", "5", "7" Grip pattern 2: One-handed grip at any of positions "3", "6" 3: Holding by finger Holding pattern 4: Contact outside the detection area. For example, contact and arrangement (hereinafter, hand operation) with respect to the X and Y positions in FIG. 4B, etc. Non-gripping: no contact with the steering wheel 31 Note that the grasping pattern is not limited to the above, and the detection pattern is not limited to the above. May vary according to the range of the steering wheel, the shape of the steering wheel, the classification of the gripping position, and the like. Further, it is assumed that the following information on each threshold value and grip pattern is held in the grip pattern management unit 302.

  In S701, sensor information acquisition section 301 acquires detection results of capacitance sensor 201 and torque sensor 202.

  In step S702, the grip position determination unit 303 determines whether the detection result of the capacitance sensor 201 is equal to or larger than the threshold A. Here, the threshold A is set to a value for determining whether or not the user is being gripped at a position other than the position “3” and the position “6” shown in FIG. The value of the threshold value A is not particularly limited, but may be determined in advance based on, for example, detection results obtained according to various gripping patterns as shown in FIG. When it is determined that the detection result is equal to or greater than threshold value A (YES in S702), the process proceeds to S703, and when it is determined that the detection result is smaller than threshold value A (NO in S702), the process proceeds to S704.

  In step S703, the grip position determination unit 303 specifies the grip position of the driver as the grip pattern 1. Then, this processing flow ends.

  In S704, gripping position determination section 303 determines whether or not the detection result by torque sensor 202 is equal to or greater than threshold B. The threshold value B is used to determine whether or not a load equal to or more than a predetermined amount is applied to the steering wheel 31 clockwise or counterclockwise. The value of the threshold value B is not particularly limited, but may be determined in advance based on, for example, detection results (load values) obtained according to various gripping patterns. When it is determined that the detection result is equal to or larger than the threshold B (YES in S704), the process proceeds to S705, and when it is determined that the detection result is smaller than the threshold B (NO in S704), the process proceeds to S708.

  In step S705, the grip position determination unit 303 determines whether the detection result of the capacitance sensor 201 is smaller than the threshold A and equal to or larger than the threshold C. Here, the threshold value C is set to a value for determining whether or not the user is grasped at the position “3” or the position “6” shown in FIG. As described above, in the configuration shown in the present embodiment, the position “3” and the position “6” have a smaller detection area 401 than the other positions. The capacity is smaller. The value of the threshold value C is not particularly limited, but may be determined in advance based on, for example, detection results obtained according to various grip patterns as shown in FIG. When it is determined that the detection result is smaller than threshold value A and equal to or greater than threshold value C (YES in S705), the process proceeds to S706, and when it is determined that the detection result is smaller than threshold value C (NO in S705), the process proceeds to S707.

  In step S706, the grip position determination unit 303 specifies the grip position of the driver as the grip pattern 2. Then, this processing flow ends.

  In S707, the grip position determination unit 303 specifies the grip position of the driver as the grip pattern 3. Then, this processing flow ends.

  In S708, gripping position determination section 303 determines whether or not the state where the detection result by torque sensor 202 is larger than threshold value D has continued for a predetermined time or more. The value of the threshold value D is not particularly limited, but may be determined in advance based on, for example, detection results (load values) obtained according to various grip patterns. Also, the predetermined time may be determined in advance according to the grip pattern and the characteristics of the driver. Here, the predetermined time may be determined based on, for example, an acquisition cycle of the detection result by the torque sensor 202 or the like. When it is determined that the torque larger than the threshold value D has continued for a predetermined time or more (YES in S708), the process proceeds to S709, and when it is determined that the torque is not so (NO in S708), the process proceeds to S710.

  In step S709, the grip position determination unit 303 specifies the grip position of the driver as the grip pattern 4. Then, this processing flow ends.

  In S710, gripping position determination unit 303 specifies that steering wheel 31 is not gripped by the driver. Then, this processing flow ends.

  The determination result of the grip pattern described above may be used to control the own vehicle, for example, to determine whether switching from the driving support mode to the manual driving mode is possible. Specifically, the control unit 2 functioning as the vehicle control system may perform control so as to permit switching to the manual operation mode when the grip position is specified as the grip pattern 1 or the grip pattern 2. .

  Alternatively, when a plurality of driving support modes (levels) are provided, the mode may be changed to each level according to the grip pattern.

  As described above, according to the present embodiment, in addition to whether or not the steering wheel is being gripped, it is possible to specify a gripping position and a more detailed gripping state. Further, as shown in FIG. 4B, since the detection area is provided integrally with the steering wheel, it is not necessary to separately install sensors at a plurality of positions on the steering wheel. As a result, costs can be reduced. Further, it is possible to suppress occurrence of an event that a grip state cannot be detected at a certain position when each of the sensors has failed.

  In the above embodiment, a combination of a capacitance sensor and a torque sensor has been described as an example of the sensor. However, the configuration is not limited to this. For example, a sensor that detects a pressing force may be used instead of the capacitance sensor.

  In the above example, the description has been made on the assumption that one-handed gripping is performed. However, the present invention is not limited to this, and a configuration in which two-handed gripping is further defined as a gripping pattern may be employed.

<Summary of Embodiment>
1. The determination system (for example, 21) of the above-described embodiment includes:
First acquisition means (for example, 301) for acquiring a value of a capacitance that varies according to a position of contact with a steering wheel (for example, 31) provided in a vehicle (for example, 1);
Second acquisition means (for example, 301) for acquiring a value of torque at the steering wheel;
Determining means (for example, 303) for determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque.

  According to this embodiment, in addition to whether or not the steering wheel is being gripped, it is possible to specify the gripping position and a more detailed gripping state.

2. In the above embodiment, the apparatus further includes a holding unit (for example, 302) that holds information indicating a correspondence relationship between the gripping pattern of the steering wheel and the respective values of the capacitance and the torque,
The determination unit determines a gripping position of the steering based on the value of the capacitance and the value of the torque and information held by the holding unit.

  According to this embodiment, the gripping pattern of the steering wheel can be specified based on the value of the capacitance and the value of the torque.

3. In the above embodiment, an electrode for detecting the capacitance is provided near the surface of the steering wheel,
The electrodes are formed such that different capacitances are generated depending on the gripping position of the steering wheel.

  According to this embodiment, it is possible to detect a change in capacitance according to the grip position.

  4. In the above embodiment, the torque of the steering wheel varies depending on the steering of the steering wheel or the load on the steering wheel.

  According to this embodiment, it is possible to detect a change in torque according to an operation on the steering wheel or a load.

5. The vehicle control system (for example, 2) of the embodiment is
First acquisition means (for example, 301) for acquiring a value of a capacitance that varies according to a position of contact with a steering wheel (for example, 31) provided in a vehicle (for example, 1);
Second acquisition means (for example, 301) for acquiring a value of torque at the steering wheel;
A determination system (for example, 21) having a determination unit (for example, 303) for determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque; There is provided control means for controlling the vehicle based on the grip position.

  According to this embodiment, it is possible to specify a gripping position and a more detailed gripping state in addition to whether or not the steering wheel is gripped, and to control the vehicle according to the state.

6. The vehicle (for example, 1) of the embodiment is
A steering wheel,
First detection means for detecting a value of a capacitance that varies according to a position of contact with the steering wheel;
Second detection means for detecting a value of torque at the steering wheel;
Determining means for determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque;
Control means for controlling the own vehicle based on the grip position determined by the determination means.

  According to this embodiment, in addition to whether or not the vehicle is gripping the steering wheel, the vehicle can specify the gripping position and a more detailed gripping state, and can perform control according to the state.

7. The determination method of the above embodiment is
A determination method for a vehicle (for example, 1) including a steering wheel (for example, 31),
A first acquisition step (for example, S701) of acquiring a value of a capacitance that varies according to a position of contact with the steering wheel;
A second acquisition step (for example, S701) of acquiring a value of torque at the steering wheel;
A determining step of determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque (for example, S702 to S710).

  According to this embodiment, in addition to whether or not the steering wheel is being gripped, it is possible to specify the gripping position and a more detailed gripping state.

8. The program of the above embodiment is
Computer (eg, 21)
A first obtaining unit (for example, 301) that obtains a value of a capacitance that varies according to a position of contact with a steering wheel (for example, 31) provided in a vehicle (for example, 1);
Second obtaining means (for example, 301) for obtaining a value of torque at the steering wheel;
Determining means for determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque (for example, 303)
Function as

  According to this embodiment, in addition to whether or not the steering wheel is being gripped, it is possible to specify the gripping position and a more detailed gripping state.

21: ECU, 31: steering wheel, 201: capacitance sensor, 202: torque sensor, 301 sensor information acquisition unit, 302: gripping pattern management unit, 303: gripping position determination unit

Claims (8)

First acquisition means for acquiring a value of capacitance that varies according to a position of contact with a steering wheel provided in the vehicle;
Second acquisition means for acquiring a value of torque at the steering wheel;
Determining means for determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque. Holding means for holding information indicating a correspondence relationship between the gripping pattern of the steering wheel and the respective values of the capacitance and the torque,
2. The steering device according to claim 1, wherein the determination unit determines a gripping position of the steering wheel based on the value of the capacitance and the value of the torque and information held by the holding unit. Judgment system. An electrode for detecting the capacitance is provided near the surface of the steering wheel,
2. The determination system according to claim 1, wherein the electrodes are formed such that different capacitances are generated according to gripping positions of the steering wheel. 3.   4. The determination system according to claim 1, wherein the torque of the steering wheel varies depending on steering of the steering wheel or a load on the steering wheel. 5. A vehicle control system configured to include the determination system according to any one of claims 1 to 4,
A vehicle control system, comprising: control means for controlling the vehicle based on the grip position determined by the determination means. A steering wheel,
First detection means for detecting a value of a capacitance that varies according to a position of contact with the steering wheel;
Second detection means for detecting a value of torque at the steering wheel;
Determining means for determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque;
A control unit for controlling the own vehicle based on the gripping position determined by the determination unit. A determination method in a vehicle including a steering wheel,
A first acquisition step of acquiring a value of a capacitance that varies according to a position of contact with the steering wheel;
A second obtaining step of obtaining a value of torque at the steering wheel;
A determining step of determining a gripping position of the steering wheel based on the value of the capacitance and the value of the torque. Computer
First acquisition means for acquiring a value of capacitance that varies according to a position of contact with a steering wheel provided in the vehicle,
Second acquisition means for acquiring a value of torque at the steering wheel;
A program for functioning as a determination unit that determines a gripping position of the steering wheel based on the value of the capacitance and the value of the torque.