WO2021254128A1 - 车辆的方向盘脱手状态的检测方法、装置及车载设备 - Google Patents

车辆的方向盘脱手状态的检测方法、装置及车载设备 Download PDF

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Publication number
WO2021254128A1
WO2021254128A1 PCT/CN2021/096972 CN2021096972W WO2021254128A1 WO 2021254128 A1 WO2021254128 A1 WO 2021254128A1 CN 2021096972 W CN2021096972 W CN 2021096972W WO 2021254128 A1 WO2021254128 A1 WO 2021254128A1
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Prior art keywords
state
detection result
steering wheel
release
hands
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PCT/CN2021/096972
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English (en)
French (fr)
Inventor
任明星
刘秋铮
徐丹琳
高乐
张建
王御
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中国第一汽车股份有限公司
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Publication of WO2021254128A1 publication Critical patent/WO2021254128A1/zh

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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined

Definitions

  • the embodiments of the present application relate to the field of automobile technology, for example, to a method, device, and vehicle-mounted equipment for detecting the release state of a steering wheel of a vehicle.
  • Autonomous driving also known as unmanned driving, computer driving or wheeled mobility
  • Self-driving cars have not yet achieved fully automated driving, replacing driver driving.
  • the driver In an autonomous vehicle, the driver is required to control the steering wheel. If the driver does not control the steering wheel, that is, when he releases his hands, it may be difficult to deal with emergencies in time. Therefore, it is necessary to detect whether the driver has let go to prompt the driver to manipulate the steering wheel.
  • a single sensor or multiple sensors with the same structure are used for hand-off detection, which cannot achieve hand-off detection when a single sensor fails or multiple sensors with the same structure have a same-sex failure problem, and the detection error rate is high at the same time.
  • the embodiments of the present application provide a detection method, device, and vehicle-mounted equipment for the hands-off state of a steering wheel of a vehicle, which can solve the failure problem of sensors of the same structure, comprehensively detect the hands-off state of the steering wheel, and improve the accuracy of detection.
  • An embodiment of the present application provides a method for detecting the release state of a steering wheel of a vehicle.
  • the method includes: obtaining force rotation information matching the steering wheel in real time through a first type of sensor, and obtaining the first release state according to the force rotation information Detection results; real-time acquisition of contact status information matching the steering wheel through the second type of sensor, and acquisition of a second release detection result according to the contact status information; according to the first release detection result and the second release detection result As a result, it is detected whether the vehicle is in the hands-off state of the steering wheel.
  • An embodiment of the present application also provides a device for detecting the release state of a steering wheel of a vehicle.
  • the device includes: a first release detection result acquisition module configured to obtain real-time force rotation information matching the steering wheel through the first type of sensor, and according to The force rotation information obtains the first release detection result; the second release detection result obtaining module is configured to obtain real-time contact state information matching the steering wheel through a second type of sensor, and obtain the contact state information according to the contact state information The second release detection result; the steering wheel release state detection module is configured to detect whether the vehicle belongs to the steering wheel release state according to the first release detection result and the second release detection result.
  • the embodiment of the application also provides a vehicle-mounted device, the vehicle-mounted device includes: one or more processors; a first type of sensor, set to obtain real-time force rotation information matching the steering wheel; a second type of sensor, set to real-time Acquiring contact state information matching the steering wheel; a storage device configured to store one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processing
  • the device implements a method for detecting the hands-off state of a steering wheel of a vehicle as described in any of the embodiments of the present application.
  • the embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the method for detecting the release state of a steering wheel of a vehicle as described in any of the embodiments of the present application is realized.
  • FIG. 1a is a flowchart of a method for detecting a hands-off state of a steering wheel of a vehicle according to Embodiment 1 of the present application;
  • FIG. 1b is a schematic structural diagram of a detection device for a hands-off state of a steering wheel of a vehicle according to Embodiment 1 of the present application;
  • FIG. 2a is a flowchart of a method for detecting the release state of a steering wheel of a vehicle provided in the second embodiment of the present application;
  • FIG. 2b is a flowchart of obtaining the first hands-off detection result provided in the second embodiment of the present application.
  • FIG. 2c is a flowchart of obtaining a second hand-off detection result provided in the second embodiment of the present application.
  • FIG. 2d is a flowchart of detecting whether the vehicle is in the hands-off state of the steering wheel provided by the second embodiment of the present application;
  • FIG. 2e is a schematic structural diagram of a detection device for a hands-off state of a steering wheel of a vehicle according to the second embodiment of the present application;
  • FIG. 3 is a schematic structural diagram of a detection device for a hands-off state of a steering wheel of a vehicle according to a third embodiment of the present application;
  • Fig. 4 is a schematic structural diagram of a vehicle-mounted device according to a fourth embodiment of the present application.
  • Fig. 1a is a flowchart of a method for detecting a hands-off state of a steering wheel of a vehicle according to Embodiment 1 of the present application. This embodiment can be applied to the situation of detecting whether the steering wheel is in the hands-off state in the automatic driving of the vehicle.
  • the method can be executed by the detection device of the vehicle's steering-wheel hands-off state.
  • the device can be implemented by software and/or hardware, and the device can be Integrated in in-vehicle equipment. As shown in Figure 1a, the method includes the following steps.
  • Step 110 Acquire the force rotation information matching the steering wheel in real time through the first type of sensor, and obtain the first release detection result according to the force rotation information.
  • the state in which the driver manipulates the steering wheel of the vehicle is usually divided into a hands-off state and a take-over state.
  • the hands-off state means that the current driver does not control the vehicle through the steering wheel.
  • the takeover state means that the current driver controls the vehicle through the steering wheel. In the field of autonomous driving or assisted driving, it is necessary to detect the release state of the steering wheel to enhance vehicle driving safety.
  • the driver when the driver activates the lane keeping function or the super cruise function, the driver can release his feet, but he needs to hold the steering wheel tightly, and respond in time to ensure driving safety when an emergency occurs. Therefore, when the lane keeping function or the super cruise function is activated, it is necessary to detect the hands-off state of the steering wheel. For example, when detecting that the steering wheel is in the hands-off state, remind the driver to hold the steering wheel firmly; or, when the steering wheel is always in the hands-off state, exit the lane keeping or super cruise function.
  • the driver when the driver activates the highway automatic driving mode or the traffic jam follow-up function, the driver can release his hands and feet.
  • the driver needs to control the vehicle by himself and needs to gain control by manipulating the steering wheel. Therefore, when the highway auto-driving mode or the traffic jam follow-up function is activated, the steering wheel needs to be hands-off state detection. For example, when it is detected that the steering wheel is in a takeover state, the control of the vehicle is handed over to the driver.
  • the first type of sensor can be used to obtain the force rotation information matching the steering wheel in real time, so as to realize the detection of the release state of the steering wheel.
  • Forced rotation information refers to the effect of rotation and/or movement of the vehicle according to the actual output of the steering wheel.
  • the first type of sensor may be a sensor that detects the actual output effect based on the driver's steering wheel manipulation. For example, torque sensors in electric power steering systems.
  • the first type of sensor may be a sensor that detects vehicle state information.
  • a speed sensor that detects vehicle speed
  • an angle sensor that detects steering wheel angle
  • a speed sensor that detects steering wheel rotation speed
  • a displacement sensor that detects the degree of bumpy road surface.
  • the force rotation information can be used to monitor the driver's control details, control state and control intention of the steering wheel, for example, at what angle to turn left or right, etc.
  • the first release detection result may be a takeover state, a release state, an intermediate state, or a fault state.
  • the intermediate state may be a state in which it is impossible to determine whether it is a takeover state or a hands-off state.
  • the fault state may be the first hand-off detection result when the first type of sensor fails.
  • the first release detection result may be a result obtained after filtering and logical operation processing on the force rotation information.
  • the first type of sensor that obtains the force rotation information is faulty, other redundant first type sensors can be activated to obtain the force rotation information, so the failure probability of detection of the steering wheel's hands-off state can be reduced.
  • Step 120 Acquire real-time contact state information matching the steering wheel through the second type of sensor, and obtain a second hands-off detection result according to the contact state information.
  • the contact state information refers to information about whether or how the driver is in contact with the steering wheel, for example, two-handed grip, one-handed grip, finger contact, non-hand contact, or non-contact grip state.
  • the second type of sensor can be arranged on the rim of the steering wheel.
  • the second type of sensor can be a contact type sensor, and the second type of sensor can judge whether the driver is holding or taking off the steering wheel through the contact signal between the hand and the steering wheel.
  • the second type of sensor may be a complex impedance type sensor.
  • the complex impedance sensor may be a sensor such as a capacitance or an inductance.
  • the second release detection result may be a takeover state, a release state, an intermediate state, or a fault state.
  • the intermediate state may be a state in which it is impossible to determine whether it is a takeover state or a hands-off state.
  • the fault state may be the second hand-off detection result when the second type of sensor fails.
  • the second release detection result may be a result obtained after filtering and logical operation processing on the contact state information.
  • the second-type sensor that obtains the contact state information is faulty, other redundant second-type sensors can be activated to obtain the contact state information, so the probability of detection failure of the steering wheel's hands-off state can be reduced.
  • Step 130 According to the first release detection result and the second release detection result, detect whether the vehicle belongs to the steering wheel release state.
  • the first release detection result and the second release detection result are detection results obtained based on information obtained by sensors of different structures. It can be comprehensively judged whether the vehicle belongs to the steering wheel release state based on the first release detection result and the second release detection result. For example, when the first hands-off detection result and the second hands-off detection result are both in the hands-off state, it can be determined that the vehicle is in the hands-off state of the steering wheel. Alternatively, when the first release detection result is the release state and the second release detection result is the intermediate state, it may be determined that the vehicle belongs to the steering wheel release state.
  • the method further includes: if it is detected that the vehicle belongs to the steering wheel release state, Remind the driver of the vehicle to hold the steering wheel and drive safely.
  • the detection of the disengaged state of the steering wheel of the vehicle may be the detection of the steering wheel of the vehicle when a function that requires the driver to hold the steering wheel is activated during automatic driving, for example, functions such as lane keeping or super cruise. If when the driver activates the automatic driving function that needs to hold the steering wheel, it is detected that the vehicle is in the hands-off state of the steering wheel, and the driver of the vehicle can be prompted to hold the steering wheel to drive safely.
  • the way of prompting may be through a vehicle-mounted human-computer interaction page, for example, the driver may be prompted through voice, text, and/or vibration.
  • the detection of the hands-off state of the steering wheel of the vehicle may be the detection of the steering wheel of the vehicle when the function that the driver can take off the steering wheel is activated during automatic driving, for example, the highway automatic driving mode or the traffic jam follow-up function. If when the driver activates the automatic driving function that can take off the steering wheel, it is detected that the vehicle is in the steering wheel takeover state, and the control of the vehicle can be handed over to the driver.
  • FIG. 1b is a schematic structural diagram of a detection device for a hands-off state of a steering wheel of a vehicle according to Embodiment 1 of the present application.
  • the technical solution of this embodiment uses heterogeneous and different principles of the first type of sensor and the second type of sensor to obtain force rotation information and contact state information matching the steering wheel, respectively.
  • the heterogeneous first judgment module and the second judgment module respectively judge the release state of the steering wheel corresponding to the force rotation information and the contact state information, and respectively generate the first release detection result and the second release detection result.
  • the comprehensive judgment module detects whether the vehicle belongs to the steering wheel release state according to the first release detection result and the second release detection result. According to the detection result of the hands-off state of the steering wheel, prompt the driver in time through the human-computer interaction interface to ensure safe driving.
  • step 110 and step 120 are not limited to the order disclosed in this embodiment, and step 120 may be executed first and then step 110 may be executed.
  • the first type of sensor obtains the force rotation information matching the steering wheel in real time, and the first release detection result is obtained according to the force rotation information;
  • the second type sensor obtains the contact state matching the steering wheel in real time According to the contact status information, the second release detection result is obtained; according to the first release detection result and the second release detection result, it is detected whether the vehicle belongs to the steering wheel release state, which solves the problem that the related technology uses a single sensor or multiple sensors of the same structure.
  • the release status of the steering wheel is detected by heterogeneous redundant sensors, which realizes the comprehensive detection of the release status of the steering wheel and improves the accuracy of detection.
  • Fig. 2a is a flowchart of a method for detecting a hands-off state of a steering wheel of a vehicle provided in the second embodiment of the present application.
  • This embodiment is an illustration of the foregoing technical solution, and the technical solution in this embodiment can be combined with multiple alternative solutions in one or more of the foregoing embodiments. As shown in Figure 2a, the method includes the following steps.
  • Step 210 Obtain the torque value of the steering wheel as the force rotation information through the torque sensor.
  • the torque sensor may be a sensor inside the electric power steering system.
  • the torque signal can be collected through the torque sensor when the steering wheel is taken over or when the steering wheel is released.
  • the electric power steering controller can process the torque signal and generate a torque value.
  • Step 220 Obtain a first release detection result according to the force rotation information.
  • the characteristic curve of the force rotation information when the driver takes over or hands off can be obtained in advance through the filtering algorithm and the arithmetic logic algorithm. For example, when the torque value is greater than the preset threshold in the characteristic curve, the first release detection result can be considered to be a takeover state; when the torque value is less than the preset threshold in the characteristic curve, the first release detection result can be considered to be the released state.
  • Step 230 Obtain the two-handed holding, single-handed holding, finger contact, non-hand contact, or non-contact holding state of the steering wheel as the contact state information through the complex impedance sensor.
  • the complex impedance sensor can be a contact sensor such as inductance or capacitance. According to the contact signal obtained by the complex impedance sensor, the controller can determine whether the contact state information of the steering wheel is one of two-handed holding, single-handed holding, finger contact, non-hand contact, or non-contact holding state.
  • Step 240 Obtain a second hand-off detection result according to the contact state information.
  • Step 250 According to the first release detection result and the second release detection result, detect whether the vehicle belongs to the steering wheel release state.
  • Step 260 If it is detected that the vehicle is in the hands-off state of the steering wheel, prompt the driver of the vehicle to hold the steering wheel to drive safely.
  • Fig. 2b is a flowchart of obtaining the first hands-off detection result provided in the second embodiment of the present application.
  • step 220 may include the following steps 221 to 226.
  • Step 221 Determine whether the force rotation information is less than the preset rotation threshold; if the force rotation information is less than the preset rotation threshold, go to step 222; if the force rotation information is not less than the preset rotation threshold, go to step 225.
  • the preset rotation threshold may be the critical rotation value of the hands-off state and the take-over state.
  • the characteristic curve of the force rotation information when the driver takes over or hands off can be obtained in advance through the filtering algorithm and the arithmetic logic algorithm, for example, the characteristic curve of the torque value.
  • the preset rotation threshold may be the critical torque value of the hands-off state and the take-over state.
  • Step 222 Determine that the force rotation information is less than the first duration of the preset rotation threshold, and determine whether the first duration exceeds the release state duration threshold; if the first duration exceeds the release state duration threshold, perform step 223; if first The duration does not exceed the hands-off state duration threshold, and step 224 is executed.
  • the first duration refers to the duration during which the force rotation information is less than the preset rotation threshold. It can start timing when it is determined that the force rotation information is less than the preset rotation threshold. During the timing process, it can always be judged whether the force rotation information is less than the preset rotation threshold. If it is determined that the force rotation information is less than the preset rotation threshold, you can continue timing; if it is determined that the force rotation information is not less than the preset rotation threshold, you can stop Timing.
  • the hands-off state duration threshold may be a preset time-length threshold, and the torque value of the vehicle is always small within the time period exceeding the hands-off state duration threshold, and it can be determined that the vehicle is in the hands-off state.
  • the time-length threshold of the hands-off state may be detection data obtained through a test on the vehicle in advance.
  • Step 223 Determine that the first release detection result is the released state, and end.
  • the force rotation information is less than the preset rotation threshold and the duration exceeds the hands-off state duration threshold, it can be determined that the vehicle is in the hands-off state of the steering wheel.
  • the release state of the steering wheel is detected by the dual parameters of the preset rotation threshold and the release state duration threshold. The detection result is more reliable and accurate, and misjudgment can be avoided.
  • the following misjudgment situations can be avoided.
  • the force rotation information may be small, and the first duration is also small. If the time parameter is not considered, it may be determined that the first release detection result is the release state. But in fact, the driver may take over the steering wheel but make minor or no adjustments to the steering wheel due to reasons such as flat roads and short roads.
  • Step 224 It is determined that the first release detection result is an intermediate state, and step 221 is executed.
  • the intermediate state is a driving state in which it is impossible to determine whether the current driving state is the hands-off state or the takeover state.
  • the force rotation information is less than the preset rotation threshold and the duration does not exceed the release state duration threshold, it is impossible to determine whether the vehicle is in the steering wheel release state or the steering wheel takeover state, and the first release detection result can be determined to be an intermediate state.
  • the force rotation information is not less than the preset rotation threshold, and the duration does not exceed the takeover state duration threshold, it is impossible to determine whether the vehicle is in the steering wheel release state or the steering wheel takeover state, and the first release detection result can be determined to be an intermediate state.
  • the single torque parameter and dual time parameters of the preset rotation threshold, hands-off state time threshold, and take-over state time threshold are used to detect the hands-off state of the steering wheel. Adding intermediate states can make the detection results more reliable and accurate, and avoid misjudgments. Avoid directly giving the first release detection result of the release state or the takeover state when the state of the steering wheel cannot be determined, which may cause misjudgment.
  • Step 225 Determine that the force rotation information is not less than the second duration of the preset rotation threshold, and determine whether the second duration exceeds the takeover state duration threshold; if the second duration exceeds the takeover state duration threshold, perform step 226; 2. The duration does not exceed the takeover state duration threshold, and step 224 is executed.
  • the second duration refers to the duration for which the force rotation information is not less than the preset rotation threshold. It may start timing when it is determined that the force rotation information is not less than the preset rotation threshold. During the timing process, you can always judge whether the force rotation information is less than the preset rotation threshold. If it is determined that the force rotation information is not less than the preset rotation threshold, you can continue timing; if it is determined that the force rotation information is less than the preset rotation threshold, you can stop Timing.
  • the duration threshold of the takeover state may be a preset duration threshold.
  • the torque value of the vehicle is always too large during the time period exceeding the duration threshold of the takeover state, and it can be determined that the vehicle is in the takeover state.
  • the duration threshold of the takeover state may be detection data obtained through a test on the vehicle in advance.
  • Step 226 It is determined that the first hand-off detection result is a takeover state, and the process ends.
  • the force rotation information is not less than the preset rotation threshold, and the duration exceeds the takeover state duration threshold, it can be determined that the vehicle is in the steering wheel takeover state.
  • the steering wheel release state is detected by the dual parameters of the preset rotation threshold and the takeover state duration threshold. The detection result is more reliable and accurate, and misjudgment can be avoided.
  • the following misjudgment situations can be avoided.
  • the force rotation information may be too large, and the second duration is small. If the time parameter is not considered, it may be determined that the first hand-off detection result is a takeover state. But in fact, the driver may get rid of the steering wheel due to bumpy roads, short roads, etc., but the vibration of the vehicle causes the steering wheel to undergo major adjustments due to the vibration.
  • the execution order of the above steps 221 to 226 is not limited to the order listed in this embodiment, and the step corresponding to determining that the force rotation information is not less than the preset rotation threshold may also be performed first, and then the determining that the force rotation information is less than the preset rotation threshold Corresponding steps.
  • the torque sensor Before performing the above steps 221 to 226, it can be judged whether the torque sensor is faulty. If the torque sensor is faulty, the result of the first hands-off state may be a fault state. It is also possible to activate the redundant torque sensor when the torque sensor fails, and execute step 221 to step 226 according to the torque value of the steering wheel obtained by the redundant torque sensor.
  • Fig. 2c is a flowchart of obtaining the second hands-off detection result provided in the second embodiment of the present application.
  • step 240 may include the following steps 241 to 246.
  • Step 241 Determine whether the contact state information is a two-handed grip or a one-handed grip; if the contact state information is a two-handed grip or a one-handed grip, go to step 242; if the contact state information is not a two-handed grip or a one-handed grip, go to step 243.
  • Step 242 Determine that the second hand-off detection result is a takeover state, and end.
  • the controller determines that the contact state information of the steering wheel is a two-handed grip or a single-handed grip, it can be determined that the driver can control the steering wheel in time, and it can be determined that the second release detection result is the takeover state.
  • Step 243 Determine whether the contact status information is finger contact or non-hand contact; if the contact status information is finger contact or non-hand contact, go to step 244; if the contact status information is not finger contact or non-hand contact, go to step 245 .
  • Step 244 Determine that the second hand-off detection result is an intermediate state, and end.
  • the controller determines that the contact state information of the steering wheel is finger contact or non-hand contact, it is impossible to determine whether the driver can manipulate the steering wheel in time, and it can be determined that the second hand release detection result is an intermediate state.
  • the intermediate state is a driving state in which it is impossible to determine whether the current driving state is the hands-off state or the takeover state.
  • Step 245 Determine whether the contact state information is non-contact; if the contact state information is non-contact, go to step 246; if the contact state information is not non-contact, go to step 241.
  • Step 246 It is determined that the second hands-off detection result is the hands-off state, and the process ends.
  • the controller determines that the contact state information of the steering wheel is non-contact, it can be determined that the driver cannot control the steering wheel in time, and it can be determined that the second release detection result is the released state.
  • the execution order of the foregoing step 241 to step 246 is not limited to the order listed in this embodiment.
  • the judgment conditions corresponding to the release state, the takeover state, and the intermediate state, and the execution sequence of the determined second release detection result can be adjusted.
  • step 241 to step 246 Before performing the above steps 241 to 246, it may be judged whether the complex impedance sensor is malfunctioning. If the complex impedance sensor malfunctions, the result of the second hands-off state may be a malfunction state. It is also possible to activate the redundant complex impedance sensor when the complex impedance sensor fails, and execute step 241 to step 246 according to the contact state information obtained by the redundant complex impedance sensor.
  • Fig. 2d is a flowchart of detecting whether the vehicle is in a state where the steering wheel is in a hands-off state according to the second embodiment of the present application.
  • step 250 may include the following steps 251 to 256.
  • Step 251 Determine whether the first release detection result is a fault state; if the first release detection result is a fault state, execute step 252; if the first release detection result is not a fault state, execute step 253.
  • Step 252 Detect whether the vehicle is in the steering wheel release state according to the second release detection result, and end.
  • the failure state of the first hand-off detection result may be caused by a failure of the torque sensor, or may be caused by a homosexual problem in the system where the torque sensor is located. At this time, even if there are multiple redundant torque sensors, it is unavoidable that the first release detection result is a fault state.
  • the second release detection result is used to detect whether the vehicle belongs to the steering wheel release state, which can reduce the failure rate of the steering wheel release state detection of the vehicle.
  • Step 253 Determine whether the second hand-off detection result is a fault state; if the second hand-off detection result is a fault state, perform step 254; if the second hand-off detection result is not a fault state, perform step 255.
  • Step 254 Detect whether the vehicle is in the steering wheel release state according to the first release detection result, and end.
  • the failure state of the second hand-off detection result may be caused by a failure of the complex impedance sensor, or may be caused by a homosexual problem in the system where the complex impedance sensor is located. At this time, even if there are multiple redundant complex impedance sensors, it is unavoidable that the second hand-off detection result is a fault state.
  • the first hands-off detection result is used to detect whether the vehicle belongs to the steering-wheel-hand-off state, which can reduce the failure rate of the steering-wheel-hand-off detection of the vehicle.
  • Step 255 Determine whether the second release detection result is an intermediate state; if the second release detection result is an intermediate state, execute step 254; if the second release detection result is not an intermediate state, execute step 256.
  • both the first release detection result and the second release detection result are not in the fault state, it can be determined whether the second release detection result is an intermediate state.
  • the intermediate state is a driving state in which it is impossible to determine whether the current driving state is the hands-off state or the takeover state. If the second release detection result is an intermediate state, it can be detected whether the vehicle belongs to the steering wheel release state according to the first release detection result.
  • the judgment can be made based on the first hands-off detection result, which can improve the accuracy and reliability of the detection of the steering wheel of the vehicle.
  • Step 256 Determine whether the first release detection result is an intermediate state; if the first release detection result is an intermediate state, execute step 252; if the first release detection result is not an intermediate state, execute step 254.
  • both the first release detection result and the second release detection result are not in a fault state, and the second release detection result is not an intermediate state, it can be determined whether the first release detection result is an intermediate state. If the first release detection result is an intermediate state, it can be detected whether the vehicle belongs to the steering wheel release state according to the second release detection result. If the first release detection result is not in the intermediate state, it may be detected whether the vehicle belongs to the steering wheel release state according to the first release detection result.
  • the embodiment of the present application can determine whether the first release detection result is an intermediate state when the second release detection result is not in the intermediate state, and when the first release detection result is not in the intermediate state, use the first release detection result to detect the steering wheel of the vehicle Hand-off state; when the first hand-off detection result is an intermediate state, the second hand-off detection result is used to detect the hand-off state of the steering wheel of the vehicle, which can improve the accuracy and reliability of the detection of the hand-off state of the vehicle steering wheel.
  • the second hands-off detection result is the takeover state
  • the first hands-off detection result is the hands-off state
  • an error is detected in the hands-off state of the steering wheel of the vehicle according to the second hands-off detection result.
  • the driver holds the steering wheel with one hand, but the torque value is very small.
  • it is detected as a take-over state based on the second hand-off detection result.
  • Fig. 2e is a schematic structural diagram of a detection device for a hands-off state of a steering wheel of a vehicle provided in the second embodiment of the present application.
  • the technical solution of this embodiment uses the torque sensor to obtain the torque value matching the steering wheel as force rotation information, and the complex impedance sensor to obtain the grip state matching the steering wheel as the contact state information.
  • the first release detection result and the second release detection result are respectively determined by the torque value (effort effect) judgment module and the hand grip state judgment module.
  • the comprehensive judgment module detects whether the vehicle belongs to the steering wheel release state according to the first release detection result and the second release detection result. According to the detection result of the hands-off state of the steering wheel, prompt the driver in time through the human-computer interaction interface to ensure safe driving.
  • the torque value matched with the steering wheel is acquired in real time through the torque sensor as the force rotation information, and the first release detection result is acquired according to the force rotation information; the handshake state matched with the steering wheel is acquired in real time through the complex impedance sensor As the contact status information, and according to the contact status information, the second release detection result is obtained; according to the first release detection result and the second release detection result, it is detected whether the vehicle belongs to the steering wheel release state, which solves the problem that the related technology uses a single sensor or the same structure Multiple sensors have the problem of homogeneity failure.
  • the disengagement state of the steering wheel is detected by heterogeneous redundant sensors, which realizes the comprehensive detection of the disengagement state of the steering wheel, improves the accuracy and reliability of detection, and reduces the effect of detection failure.
  • FIG. 3 is a schematic structural diagram of a detection device for a steering wheel release state of a vehicle according to a third embodiment of the present application.
  • the device includes: a first release detection result acquisition module 310, a second release detection result acquisition module 320, and a steering wheel release state detection module 330.
  • the first release detection result acquisition module 310 is configured to obtain the force rotation information matching the steering wheel in real time through the first type of sensors, and obtain the first release detection result according to the force rotation information;
  • the second release detection result acquisition module 320 Set to obtain real-time contact status information matching the steering wheel through the second type of sensor, and obtain the second release detection result according to the contact status information;
  • the steering wheel release status detection module 330 is set to be based on the first release detection result and the second release detection result As a result, it is detected whether the vehicle is in a state where the steering wheel is released.
  • the first release detection result obtaining module 310 includes a torque value obtaining unit configured to obtain the torque value of the steering wheel as the force rotation information through the torque sensor.
  • the first release detection result acquisition module 310 includes: a force rotation information judging unit configured to determine whether the force rotation information is less than a preset rotation threshold; the first duration determining unit is configured to force rotation information If it is less than the preset rotation threshold, it is determined that the force rotation information is less than the first duration of the preset rotation threshold; the first release detection result determination unit is set to determine the first release detection result if the first duration exceeds the release state duration threshold If the first duration does not exceed the duration threshold of the release state, continue to determine whether the force rotation information is less than the preset rotation threshold, and determine that the first release detection result is an intermediate state; the second duration determination unit is set to if The force rotation information is not less than the preset rotation threshold, and it is determined that the force rotation information is not less than the second duration of the preset rotation threshold; the first release detection result determination unit is also set to if the second duration exceeds the takeover state duration threshold, Determine that the first release detection result is the takeover state; if the second duration does not exceed the takeover state duration
  • the second release detection result acquisition module 320 includes: a hand grip state acquisition unit configured to acquire the two-handed grip, single-handed grip, finger contact, non-hand contact, or non-contact of the steering wheel through the complex impedance sensor The grip state is used as the contact state information.
  • the second release detection result acquisition module 320 includes: a second release detection result determination unit configured to determine that the second release detection result is a takeover state if the contact state information is a two-handed grip or a single-handed grip; The detection result determination unit is further configured to determine that the second hand-off detection result is an intermediate state if the contact state information is finger contact or non-hand contact; the second hand-off detection result determination unit is further configured to determine that if the contact state information is no contact, It is determined that the second hand-off detection result is the hand-off state; the intermediate state is a driving state in which it is impossible to determine that the current driving state is the hand-off state or the take-over state.
  • the steering wheel release state detection module 330 includes: a steering wheel release state detection unit.
  • Both the first and second hands-off detection results include: hands-off state, take-over state, intermediate state, and fault state.
  • the intermediate state is a driving state where it is impossible to determine whether the current driving state is the hands-off state or the take-over state;
  • the steering wheel hands-off state detection The unit is set to detect whether the vehicle is in the steering wheel withdrawn state according to the second hands-off detection result when the first hands-off detection result is in the fault state; the steering wheel-hand-off state detection unit is also set to when the second hands-off detection result is in the fault state, according to
  • the first release detection result detects whether the vehicle belongs to the steering wheel release status;
  • the steering wheel release status detection unit is also set to perform the following operations when the first release detection result and the second release detection result are not in the fault state: if the first release detection result If the result and the second release detection result are not in the intermediate state, the first release detection result is used to detect whether the vehicle belongs to the steering wheel release state; if the first release detection result is an intermediate state,
  • the second hand-off detection result detects whether the vehicle is in the steering wheel hand-off state; if the first hand-off detection result is not in the intermediate state, the second hand-off detection result is in the intermediate state, and whether the vehicle is in the steering wheel off-hand state is detected according to the first hand-off detection result.
  • the device further includes: a safe driving prompt module, configured to prompt the vehicle if the detected vehicle is in the steering-wheel-disengaged state after detecting whether the vehicle is in the steering-wheel-disengaged state according to the first hands-off detection result and the second hands-off detection result The driver holds the steering wheel to drive safely.
  • a safe driving prompt module configured to prompt the vehicle if the detected vehicle is in the steering-wheel-disengaged state after detecting whether the vehicle is in the steering-wheel-disengaged state according to the first hands-off detection result and the second hands-off detection result The driver holds the steering wheel to drive safely.
  • the device for detecting the hands-off state of the steering wheel of a vehicle provided in the embodiments of the present application can execute the method for detecting the hands-off state of the steering wheel of a vehicle provided in any embodiment of the present application, and has functional modules corresponding to the execution method.
  • FIG. 4 is a schematic structural diagram of a vehicle-mounted device according to Embodiment 4 of the present application. As shown in FIG. 4, the device includes: one or more processors 410. In FIG. 4, one processor 410 is taken as an example; and a memory 420; The first type of sensor 450 and the second type of sensor 460.
  • the device may further include: an input device 430 and an output device 440.
  • the first type of sensor 450 is configured to obtain the force rotation information matched with the steering wheel in real time; the second type of sensor 460 is configured to obtain the contact state information matched with the steering wheel in real time.
  • the processor 410, the memory 420, the input device 430, the output device 440, the first-type sensor 450, and the second-type sensor 460 in the device may be connected by a bus or other methods.
  • a bus connection is taken as an example.
  • the memory 420 can be configured to store software programs, computer-executable programs, and modules, such as program instructions corresponding to a method for detecting the hands-off state of a steering wheel of a vehicle in an embodiment of the present application.
  • Modules for example, the first hands-off detection result acquisition module 310, the second hands-off detection result acquisition module 320, and the steering wheel hands-off state detection module 330 shown in FIG. 3).
  • the processor 410 executes multiple functional applications and data processing of the computer device by running the software programs, instructions, and modules stored in the memory 420, that is, the method for detecting the hands-off state of the steering wheel of a vehicle in the foregoing method embodiment is realized, namely : Obtain the force rotation information matching the steering wheel through the first type of sensor in real time, and obtain the first release detection result according to the force rotation information; obtain the contact state information matching the steering wheel in real time through the second type of sensor, And according to the contact state information, a second release detection result is obtained; according to the first release detection result and the second release detection result, it is detected whether the vehicle belongs to the steering wheel release state.
  • the memory 420 may include a program storage area and a data storage area.
  • the program storage area may store an operating system and an application program required by at least one function; the data storage area may store data created according to the use of a computer device, and the like.
  • the memory 420 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 420 may optionally include memories remotely provided with respect to the processor 410, and these remote memories may be connected to the terminal device through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.
  • the input device 430 may be configured to receive input digital or character information, and to generate key signal input related to user settings and function control of the computer device.
  • the output device 440 may include a display device such as a display screen.
  • the fifth embodiment of the present application provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by a processor, the method for detecting the release state of the steering wheel of a vehicle as provided in the embodiment of the present application is achieved:
  • the first type of sensor acquires the force rotation information matching the steering wheel in real time, and obtains the first release detection result according to the force rotation information;
  • the second type of sensor acquires the contact state information matching the steering wheel in real time, and according to the According to the contact state information, a second release detection result is obtained; according to the first release detection result and the second release detection result, it is detected whether the vehicle belongs to the steering wheel release state.
  • the computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or a combination of any of the above.
  • Examples of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (Read- Only Memory, ROM), Erasable Programmable Read-Only-Memory (EPROM) or flash memory, optical fiber, portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), optical Storage device, magnetic storage device, or any suitable combination of the above.
  • the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.
  • the computer-readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and computer-readable program code is carried therein. This propagated data signal can take many forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • the computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium.
  • the computer-readable medium may send, propagate or transmit the program for use by or in combination with the instruction execution system, apparatus, or device .
  • the program code contained on the computer-readable medium can be transmitted by any suitable medium, including, but not limited to, wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • suitable medium including, but not limited to, wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.
  • RF radio frequency
  • the computer program code used to perform the operations of this application can be written in one or more programming languages or a combination thereof.
  • the programming languages include object-oriented programming languages—such as Java, Smalltalk, C++, and also conventional Procedural programming language-such as "C" language or similar programming language.
  • the program code can be executed entirely on the user's computer, partly on the user's computer, executed as an independent software package, partly on the user's computer and partly executed on a remote computer, or entirely executed on the remote computer or server.
  • the remote computer can be connected to the user's computer through any kind of network-including Local Area Network (LAN) or Wide Area Network (WAN)-or it can be connected to an external computer ( For example, use an Internet service provider to connect via the Internet).
  • LAN Local Area Network
  • WAN Wide Area Network

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Abstract

一种车辆的方向盘脱手状态的检测方法，包括：步骤110，通过第一类传感器（450）实时获取与方向盘匹配的受力转动信息，并根据受力转动信息，获取第一脱手检测结果；步骤120，通过第二类传感器（460）实时获取与方向盘匹配的接触状态信息，并根据接触状态信息，获取第二脱手检测结果；步骤130，根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态。还公开了一种车辆的方向盘脱手状态的检测装置、车载设备及计算机可读存储介质。此检测方法可以解决同结构传感器的失效问题，综合检测方向盘脱手状态，提高检测的准确性。

Description

车辆的方向盘脱手状态的检测方法、装置及车载设备
本申请要求在2020年06月15日提交中国专利局、申请号为202010543975.4的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及汽车技术领域，例如涉及一种车辆的方向盘脱手状态的检测方法、装置及车载设备。
背景技术
自动驾驶又称为无人驾驶、电脑驾驶或者轮式移动，是一种通过电脑系统实现辅助驾驶员进行驾驶的技术。自动驾驶汽车还未实现完全自动化驾驶，取代驾驶员驾驶。在自动驾驶汽车时，需要驾驶员操控方向盘。如果驾驶员未操控方向盘，即脱手时，可能难以对突发情况进行及时处理。因此，需要对驾驶员是否脱手进行检测，以提示驾驶员操控方向盘。
相关技术中，采用单一传感器或者同结构的多传感器进行脱手检测，无法在单一传感器失效或者同结构的多传感器存在同性失效问题时实现脱手检测，同时检测错误率高。
发明内容
本申请实施例提供了一种车辆的方向盘脱手状态的检测方法、装置及车载设备，可以解决同结构传感器的失效问题，综合检测方向盘脱手状态，提高检测的准确性。
本申请实施例提供了一种车辆的方向盘脱手状态的检测方法，该方法包括：通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据所述受力转动信息，获取第一脱手检测结果；通过第二类传感器实时获取与所述方向盘匹配的接触状态信息，并根据所述接触状态信息，获取第二脱手检测结果；根据所述第一脱手检测结果和所述第二脱手检测结果，检测所述车辆是否属于方向盘脱手状态。
本申请实施例还提供了一种车辆的方向盘脱手状态的检测装置，该装置包括：第一脱手检测结果获取模块，设置为通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据所述受力转动信息，获取第一脱手检测结果；第二脱手检测结果获取模块，设置为通过第二类传感器实时获取与所述方向盘匹 配的接触状态信息，并根据所述接触状态信息，获取第二脱手检测结果；方向盘脱手状态检测模块，设置为根据所述第一脱手检测结果和所述第二脱手检测结果，检测所述车辆是否属于方向盘脱手状态。
本申请实施例还提供了一种车载设备，该车载设备包括：一个或多个处理器；第一类传感器，设置为实时获取与方向盘匹配的受力转动信息；第二类传感器，设置为实时获取与所述方向盘匹配的接触状态信息；存储装置，设置为存储一个或多个程序，当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如本申请任意实施例所述的一种车辆的方向盘脱手状态的检测方法。
本申请实施例还提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请任意实施例所述的一种车辆的方向盘脱手状态的检测方法。
附图说明
图1a是本申请实施例一提供的一种车辆的方向盘脱手状态的检测方法的流程图；
图1b是本申请实施例一提供的一种车辆的方向盘脱手状态的检测装置的结构示意图；
图2a是本申请实施例二提供的一种车辆的方向盘脱手状态的检测方法的流程图；
图2b是本申请实施例二提供的第一脱手检测结果的获取流程图；
图2c是本申请实施例二提供的第二脱手检测结果的获取流程图；
图2d是本申请实施例二提供的检测车辆是否属于方向盘脱手状态的流程图；
图2e是本申请实施例二提供的一种车辆的方向盘脱手状态的检测装置的结构示意图；
图3是本申请实施例三提供的一种车辆的方向盘脱手状态的检测装置的结构示意图；
图4是本申请实施例四提供的一种车载设备的结构示意图。
具体实施方式
下面结合附图和实施例对本申请进行说明。此处所描述的实施例仅仅用于 解释本申请，而非对本申请的限定。为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
实施例一
图1a是本申请实施例一提供的一种车辆的方向盘脱手状态的检测方法的流程图。本实施例可适用于车辆自动驾驶中检测方向盘是否处于脱手状态的情况，该方法可以由车辆的方向盘脱手状态的检测装置来执行，该装置可以通过软件，和/或硬件的方式实现，装置可以集成在车载设备中。如图1a所示，该方法包括如下步骤。
步骤110、通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据受力转动信息，获取第一脱手检测结果。
驾驶员操控车辆方向盘的状态通常分为脱手状态和接管状态。脱手状态是指当前驾驶员没有通过方向盘操控车辆。接管状态是指当前驾驶员通过方向盘操控车辆。在自动驾驶领域或者辅助驾驶领域，需要对方向盘脱手状态进行检测以增强车辆驾驶安全。
示例性的，自动驾驶中，驾驶员激活车道保持功能或者超级巡航功能时，驾驶员可以释放双脚，但是需要握紧方向盘，在出现紧急情况时，及时做出反应以确保驾驶安全。因此，在车道保持功能或者超级巡航功能激活时，需要进行方向盘脱手状态的检测。比如，在检测到方向盘处于脱手状态时，提醒驾驶员握紧方向盘；或者，在方向盘一直处于脱手状态时，退出车道保持或者超级巡航功能。
示例性的，自动驾驶中，驾驶员激活高速公路自动驾驶模式或者拥堵跟车功能时，驾驶员可以释放双手双脚。但是一些情况下，驾驶员需要自己操控车辆，需要通过操控方向盘获得控制权。因此，在高速公路自动驾驶模式或者拥堵跟车功能激活时，需要对方向盘进行脱手状态检测。比如，在检测到方向盘处于接管状态时，将车辆的控制权交给驾驶员。
为了实现对方向盘脱手状态的检测，可以通过第一类传感器实时获取与方向盘匹配的受力转动信息，进而实现对方向盘脱手状态的检测。受力转动信息是指车辆根据方向盘的实际出力产生的转动和/或移动的效果。第一类传感器可以是基于驾驶员操控方向盘实现的对实际出力效果进行检测的传感器。例如，电动助力转向系统中的扭矩传感器。
在获取与方向盘匹配的受力转动信息时，第一类传感器可以是检测车辆状态信息的传感器。例如，检测车速的速度传感器、检测方向盘转角的角度传感器、检测方向盘转速的速度传感器或者检测路面颠簸程度的位移传感器等。通 过受力转动信息可以监控驾驶员对方向盘的操控细节、操控状态和操控意图，比如，以多大角度进行左转或右转等。
第一脱手检测结果可以是接管状态、脱手状态、中间状态或者故障状态。中间状态可以是无法确定是接管状态或者脱手状态的状态。故障状态可以是第一类传感器发生故障时的第一脱手检测结果。第一脱手检测结果可以是对受力转动信息进行滤波以及逻辑运算处理后得到的结果。
在本申请实施例的一个实现方式中，可以存在多个或多组第一类传感器。可以在获取受力转动信息的第一类传感器存在故障时，启动其它冗余的第一类传感器获取受力转动信息，因此可以降低方向盘脱手状态的检测失效概率。
步骤120、通过第二类传感器实时获取与方向盘匹配的接触状态信息，并根据接触状态信息，获取第二脱手检测结果。
接触状态信息是指驾驶员与方向盘是否接触或者如何接触的信息，例如，双手握、单手握、手指接触、非手部接触、或者未接触的手握状态。第二类传感器可以设置在方向盘的轮圈上。第二类传感器可以是接触类传感器，第二类传感器可以通过手与方向盘的接触信号判别驾驶员是握紧还是脱手方向盘。例如，第二类传感器可以是复阻抗类传感器。示例性的，复阻抗类传感器可以是电容、电感等传感器。
第二脱手检测结果可以是接管状态、脱手状态、中间状态或者故障状态。中间状态可以是无法确定是接管状态或者脱手状态的状态。故障状态可以是第二类传感器发生故障时的第二脱手检测结果。第二脱手检测结果可以是对接触状态信息进行滤波以及逻辑运算处理后得到的结果。
在本申请实施例的一个实现方式中，可以存在多个或多组第二类传感器。可以在获取接触状态信息的第二类传感器存在故障时，启动其它冗余的第二类传感器获取接触状态信息，因此可以降低方向盘脱手状态的检测失效概率。
步骤130、根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态。
第一脱手检测结果和第二脱手检测结果为根据不同结构的传感器获取到的信息得到的检测结果。可以根据第一脱手检测结果和第二脱手检测结果综合判断车辆是否属于方向盘脱手状态。例如，在第一脱手检测结果和第二脱手检测结果均为脱手状态时，可以确定车辆属于方向盘脱手状态。或者，在第一脱手检测结果为脱手状态，第二脱手检测结果为中间状态时，可以确定车辆属于方向盘脱手状态。
在上述实施方式的基础上，可选的，在根据第一脱手检测结果和第二脱手 检测结果，检测车辆是否属于方向盘脱手状态之后，所述方法还包括：若检测到车辆属于方向盘脱手状态，提示车辆的驾驶员握紧方向盘安全驾驶。
车辆的方向盘脱手状态的检测可以是自动驾驶时激活需要驾驶员握紧方向盘的功能时对车辆方向盘的检测，例如，车道保持或者超级巡航等功能。若在驾驶员激活需要握紧方向盘的自动驾驶功能时，检测到车辆属于方向盘脱手状态，可以提示车辆的驾驶员握紧方向盘安全驾驶。提示的方式可以是通过车载的人机交互页面，例如，可以通过声音、文字、和/或振动等方式提示驾驶员。
车辆的方向盘脱手状态的检测可以是自动驾驶时激活驾驶员可以脱手方向盘的功能时对车辆方向盘的检测，例如，高速公路自动驾驶模式或者拥堵跟车功能等。若在驾驶员激活可以脱手方向盘的自动驾驶功能时，检测到车辆属于方向盘接管状态，可以将车辆的控制权交给驾驶员。
图1b是本申请实施例一提供的一种车辆的方向盘脱手状态的检测装置的结构示意图。如图1b所示，本实施例的技术方案，通过异构且原理不同的第一类传感器和第二类传感器分别获取与方向盘匹配的受力转动信息和接触状态信息。通过异构的第一判断模块和第二判断模块分别判断受力转动信息和接触状态信息所对应的方向盘脱手状态，并分别生成第一脱手检测结果和第二脱手检测结果。通过综合判断模块根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态。根据方向盘脱手状态检测结果，通过人机交互界面及时对驾驶员进行提示，以确保安全驾驶。
上述步骤110与步骤120的执行顺序不限于本实施例中所公开的顺序，可以先执行步骤120再执行步骤110。
本实施例的技术方案，通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据受力转动信息，获取第一脱手检测结果；通过第二类传感器实时获取与方向盘匹配的接触状态信息，并根据接触状态信息，获取第二脱手检测结果；根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态，解决了相关技术采用单一传感器或者同结构的多传感器存在同性失效的问题，通过异构冗余的传感器检测方向盘脱手状态，实现了综合检测方向盘脱手状态，提高检测的准确性的效果。
实施例二
图2a是本申请实施例二提供的一种车辆的方向盘脱手状态的检测方法的流程图。本实施例是对上述技术方案的说明，本实施例中的技术方案可以与上述一个或者多个实施例中的多个可选方案结合。如图2a所示，该方法包括如下步骤。
步骤210、通过扭矩传感器，获取方向盘的扭矩值作为受力转动信息。
扭矩传感器可以是电动助力转向系统内部的传感器。可以通过扭矩传感器采集方向盘接管或者脱手时的力矩信号，电动助力转向控制器可以处理力矩信号并生成扭矩值。
步骤220、根据受力转动信息，获取第一脱手检测结果。
可以通过滤波算法以及运算逻辑算法预先获取驾驶员接管或者脱手时受力转动信息的特性曲线。比如，当扭矩值大于特性曲线中的预设阈值时，可以认为第一脱手检测结果为接管状态；当扭矩值小于特性曲线中的预设阈值时，可以认为第一脱手检测结果为脱手状态。
步骤230、通过复阻抗传感器，获取方向盘的双手握、单手握、手指接触、非手部接触、或者未接触的手握状态作为接触状态信息。
复阻抗传感器可以是电感或者电容等接触类传感器。根据复阻抗传感器获取的接触信号，可以通过控制器判断方向盘的接触状态信息是双手握、单手握、手指接触、非手部接触、或者未接触的手握状态中的一种。
步骤240、根据接触状态信息，获取第二脱手检测结果。
步骤250、根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态。
步骤260、若检测车辆属于方向盘脱手状态，提示车辆的驾驶员握紧方向盘安全驾驶。
图2b是本申请实施例二提供的第一脱手检测结果的获取流程图。如图2b所示，可选的，步骤220可以包括如下的步骤221至步骤226。
步骤221、判断受力转动信息是否小于预设转动阈值；若受力转动信息小于预设转动阈值，执行步骤222；若受力转动信息不小于预设转动阈值，执行步骤225。
预设转动阈值可以是脱手状态与接管状态的临界转动值。可以通过滤波算法以及运算逻辑算法预先获取驾驶员接管或者脱手时受力转动信息的特性曲线，例如，扭矩值的特性曲线。预设转动阈值可以是脱手状态与接管状态的临界扭矩值。
步骤222、确定受力转动信息小于预设转动阈值的第一持续时长，并判断第一持续时长是否超过脱手状态时长阈值；若第一持续时长超过脱手状态时长阈值，执行步骤223；若第一持续时长未超过脱手状态时长阈值，执行步骤224。
第一持续时长是指受力转动信息小于预设转动阈值的持续时长。可以是从 确定受力转动信息小于预设转动阈值时开始计时。在计时过程中，可以一直判断受力转动信息是否小于预设转动阈值，如果确定受力转动信息小于预设转动阈值，可以继续计时；如果确定受力转动信息不小于预设转动阈值，可以停止计时。
在计时过程中，可以实时判断第一持续时长是否超过脱手状态时长阈值。脱手状态时长阈值可以是预先设置的时长阈值，车辆在超过脱手状态时长阈值的时长内，扭矩值一直很小，可以确定车辆处于脱手状态。脱手状态时长阈值可以是预先通过对车辆的测试得到的检测数据。
步骤223、确定第一脱手检测结果为脱手状态，结束。
在受力转动信息小于预设转动阈值，且持续时长超过脱手状态时长阈值时，可以确定车辆处于方向盘脱手状态。通过预设转动阈值以及脱手状态时长阈值的双参数对方向盘脱手状态进行检测，检测结果更可靠、准确，可以避免发生误判。
示例性的，可以避免下述误判情况。车辆在一小段平缓的道路上行驶时，受力转动信息可能很小，第一持续时长也很小。如果不考虑时间参数，可能会确定第一脱手检测结果为脱手状态。但实际上，可能由于道路平缓、道路短等原因，驾驶员可能接管方向盘但对方向盘进行微小的调整或未调整。
步骤224、确定第一脱手检测结果为中间状态，执行步骤221。
中间状态为无法确定当前驾驶状态为脱手状态或者接管状态的驾驶状态。在受力转动信息小于预设转动阈值，且持续时长未超过脱手状态时长阈值时，无法确定车辆处于方向盘脱手状态还是方向盘接管状态，可以确定第一脱手检测结果为中间状态。或者，在受力转动信息不小于预设转动阈值，且持续时长未超过接管状态时长阈值时，无法确定车辆处于方向盘脱手状态还是方向盘接管状态，可以确定第一脱手检测结果为中间状态。
通过预设转动阈值、脱手状态时长阈值以及接管状态时长阈值的单扭矩参数、双时间参数，对方向盘脱手状态进行检测，增加中间状态，可以使检测结果更可靠、准确，可以避免发生误判。避免在无法确定方向盘状态时，直接给出脱手状态或者接管状态的第一脱手检测结果，造成误判。
步骤225、确定受力转动信息不小于预设转动阈值的第二持续时长，并判断第二持续时长是否超过接管状态时长阈值；若第二持续时长超过接管状态时长阈值，执行步骤226；若第二持续时长未超过接管状态时长阈值，执行步骤224。
第二持续时长是指受力转动信息不小于预设转动阈值的持续时长。可以是从确定受力转动信息不小于预设转动阈值时开始计时。在计时过程中，可以一 直判断受力转动信息是否小于预设转动阈值，如果确定受力转动信息不小于预设转动阈值，可以继续计时；如果确定受力转动信息小于预设转动阈值，可以停止计时。
在计时过程中，可以实时判断第二持续时长是否超过接管状态时长阈值。接管状态时长阈值可以是预先设置的时长阈值，车辆在超过接管状态时长阈值的时长内，扭矩值一直偏大，可以确定车辆处于接管状态。接管状态时长阈值可以是预先通过对车辆的测试得到的检测数据。
步骤226、确定第一脱手检测结果为接管状态，结束。
在受力转动信息不小于预设转动阈值，且持续时长超过接管状态时长阈值时，可以确定车辆处于方向盘接管状态。通过预设转动阈值以及接管状态时长阈值的双参数对方向盘脱手状态进行检测，检测结果更可靠、准确，可以避免发生误判。
示例性的，可以避免下述误判情况。车辆在一小段颠簸的道路上行驶时，受力转动信息可能偏大，第二持续时长很小。如果不考虑时间参数，可能会确定第一脱手检测结果为接管状态。但实际上，可能由于道路颠簸、道路短等原因，驾驶员可能脱手方向盘，但车辆振动致使方向盘由于振动原因出现较大调整。
上述步骤221至步骤226的执行顺序，不限于本实施例列举的顺序，也可以先执行确定受力转动信息不小于预设转动阈值对应的步骤，再执行确定受力转动信息小于预设转动阈值对应的步骤。
在执行上述步骤221至步骤226之前，可以先判断扭矩传感器是否发生故障，如果扭矩传感器发生故障，第一脱手状态结果可以是故障状态。也可以在扭矩传感器发生故障时，启动冗余的扭矩传感器，根据冗余的扭矩传感器获取的方向盘的扭矩值执行步骤221至步骤226。
图2c是本申请实施例二提供的第二脱手检测结果的获取流程图。如图2c所示，可选的，步骤240可以包括如下的步骤241至步骤246。
步骤241、判断接触状态信息是否为双手握或者单手握；若接触状态信息为双手握或者单手握，执行步骤242；若接触状态信息不是双手握或者单手握，执行步骤243。
步骤242、确定第二脱手检测结果为接管状态，结束。
若通过控制器判断方向盘的接触状态信息是双手握或者单手握，可以确定驾驶员可以及时对方向盘进行操控，可以确定第二脱手检测结果为接管状态。
步骤243、判断接触状态信息是否为手指接触或者非手部接触；若接触状态信息为手指接触或者非手部接触，执行步骤244；若接触状态信息不是手指接触或者非手部接触，执行步骤245。
步骤244、确定第二脱手检测结果为中间状态，结束。
若通过控制器判断方向盘的接触状态信息是手指接触或者非手部接触，无法确定驾驶员是否能够及时对方向盘进行操控，可以确定第二脱手检测结果为中间状态。中间状态为无法确定当前驾驶状态为脱手状态或者接管状态的驾驶状态。
步骤245、判断接触状态信息是否为未接触；若接触状态信息为未接触，执行步骤246；若接触状态信息不是未接触，执行步骤241。
步骤246、确定第二脱手检测结果为脱手状态，结束。
若通过控制器判断方向盘的接触状态信息是未接触，可以确定驾驶员不能够及时对方向盘进行操控，可以确定第二脱手检测结果为脱手状态。
上述步骤241至步骤246的执行顺序，不限于本实施例列举的顺序。脱手状态、接管状态以及中间状态对应的判断条件以及确定的第二脱手检测结果的执行顺序可以调整。
在执行上述步骤241至步骤246之前，可以先判断复阻抗传感器是否发生故障，如果复阻抗传感器发生故障，第二脱手状态结果可以是故障状态。也可以在复阻抗传感器发生故障时，启动冗余的复阻抗传感器，根据冗余的复阻抗传感器获取的接触状态信息执行步骤241至步骤246。
图2d是本申请实施例二提供的检测车辆是否属于方向盘脱手状态的流程图。如图2d所示，可选的，步骤250可以包括如下的步骤251至步骤256。
步骤251、判断第一脱手检测结果是否为故障状态；若第一脱手检测结果为故障状态，执行步骤252；若第一脱手检测结果不是故障状态，执行步骤253。
步骤252、根据第二脱手检测结果检测车辆是否属于方向盘脱手状态，结束。
当第一脱手检测结果为故障状态时，通过第二脱手检测结果检测车辆是否属于方向盘脱手状态。在实际应用中，第一脱手检测结果的故障状态可能是由于扭矩传感器的故障造成的，也可以是扭矩传感器所在的系统存在同性问题导致的故障问题。此时，即便存在多个冗余扭矩传感器也无法避免第一脱手检测结果为故障状态。本申请实施例通过在第一脱手检测结果为故障状态时，通过第二脱手检测结果检测车辆是否属于方向盘脱手状态，可以降低车辆的方向盘脱手状态检测的失效率。
步骤253、判断第二脱手检测结果是否为故障状态；若第二脱手检测结果为故障状态，执行步骤254；若第二脱手检测结果不是故障状态，执行步骤255。
步骤254、根据第一脱手检测结果检测车辆是否属于方向盘脱手状态，结束。
当第二脱手检测结果为故障状态时，通过第一脱手检测结果检测车辆是否属于方向盘脱手状态。在实际应用中，第二脱手检测结果的故障状态可能是由于复阻抗传感器的故障造成的，也可以是复阻抗传感器所在的系统存在同性问题导致的故障问题。此时，即便存在多个冗余复阻抗传感器也无法避免第二脱手检测结果为故障状态。本申请实施例通过在第二脱手检测结果为故障状态时，通过第一脱手检测结果检测车辆是否属于方向盘脱手状态，可以降低车辆的方向盘脱手状态检测的失效率。
步骤255、判断第二脱手检测结果是否为中间状态；若第二脱手检测结果为中间状态，执行步骤254；若第二脱手检测结果不是中间状态，执行步骤256。
如果第一脱手检测结果和第二脱手检测结果均不为故障状态，可以判断第二脱手检测结果是否为中间状态。中间状态为无法确定当前驾驶状态为脱手状态或者接管状态的驾驶状态。如果第二脱手检测结果为中间状态，可以根据第一脱手检测结果检测车辆是否属于方向盘脱手状态。可以在第二脱手检测结果无法给出脱手状态或者接管状态的准确判断时，通过第一脱手检测结果进行判断，可以提高车辆的方向盘脱手状态检测的准确率，以及可靠性。
步骤256、判断第一脱手检测结果是否为中间状态；若第一脱手检测结果为中间状态，执行步骤252；若第一脱手检测结果不是中间状态，执行步骤254。
如果第一脱手检测结果和第二脱手检测结果均不为故障状态，第二脱手检测结果也不为中间状态，可以判断第一脱手检测结果是否为中间状态。如果第一脱手检测结果为中间状态，可以根据第二脱手检测结果检测车辆是否属于方向盘脱手状态。如果第一脱手检测结果不为中间状态，可以根据第一脱手检测结果检测车辆是否属于方向盘脱手状态。
本申请实施例可以在第二脱手检测结果不为中间状态时，判断第一脱手检测结果是否为中间状态，在第一脱手检测结果不为中间状态时，采用第一脱手检测结果检测车辆的方向盘脱手状态；在第一脱手检测结果为中间状态时，采用第二脱手检测结果检测车辆的方向盘脱手状态，可以提高车辆的方向盘脱手状态检测的准确率，以及可靠性。
示例性的，可以避免第二脱手检测结果为接管状态，但第一脱手检测结果为脱手状态，根据第二脱手检测结果检测车辆的方向盘脱手状态出现错误的情况。比如，可以避免驾驶员单手握方向盘，但扭矩值很小的情况，应检测为脱 手状态时，但根据第二脱手检测结果检测为接管状态的情况。
图2e是本申请实施例二提供的一种车辆的方向盘脱手状态的检测装置的结构示意图。如图2e所示，本实施例的技术方案，通过扭矩传感器获取与方向盘匹配的扭矩值作为受力转动信息，通过复阻抗传感器获取与方向盘匹配的手握状态作为接触状态信息。通过扭矩值(出力效果)判断模块和手握状态判断模块分别确定第一脱手检测结果和第二脱手检测结果。通过综合判断模块根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态。根据方向盘脱手状态检测结果，通过人机交互界面及时对驾驶员进行提示，以确保安全驾驶。
本实施例的技术方案，通过扭矩传感器实时获取与方向盘匹配的扭矩值作为受力转动信息，并根据受力转动信息，获取第一脱手检测结果；通过复阻抗传感器实时获取与方向盘匹配的握手状态作为接触状态信息，并根据接触状态信息，获取第二脱手检测结果；根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态，解决了相关技术采用单一传感器或者同结构的多传感器存在同性失效的问题，通过异构冗余的传感器检测方向盘脱手状态，实现了综合检测方向盘脱手状态，提高检测的准确性及可靠性，降低检测失效性的效果。
实施例三
图3是本申请实施例三提供的一种车辆的方向盘脱手状态的检测装置的结构示意图。结合图3，该装置包括：第一脱手检测结果获取模块310，第二脱手检测结果获取模块320和方向盘脱手状态检测模块330。
第一脱手检测结果获取模块310，设置为通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据受力转动信息，获取第一脱手检测结果；第二脱手检测结果获取模块320，设置为通过第二类传感器实时获取与方向盘匹配的接触状态信息，并根据接触状态信息，获取第二脱手检测结果；方向盘脱手状态检测模块330，设置为根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态。
可选的，第一脱手检测结果获取模块310，包括：扭矩值获取单元，设置为通过扭矩传感器，获取方向盘的扭矩值作为受力转动信息。
可选的，第一脱手检测结果获取模块310，包括：受力转动信息判断单元，设置为判断受力转动信息是否小于预设转动阈值；第一持续时长确定单元，设置为若受力转动信息小于预设转动阈值，则确定受力转动信息小于预设转动阈 值的第一持续时长；第一脱手检测结果确定单元，设置为若第一持续时长超过脱手状态时长阈值，确定第一脱手检测结果为脱手状态；若第一持续时长未超过脱手状态时长阈值，继续判断受力转动信息是否小于预设转动阈值，并确定第一脱手检测结果为中间状态；第二持续时长确定单元，设置为若受力转动信息不小于预设转动阈值，确定受力转动信息不小于预设转动阈值的第二持续时长；第一脱手检测结果确定单元，还设置为若第二持续时长超过接管状态时长阈值，确定第一脱手检测结果为接管状态；若第二持续时长未超过接管状态时长阈值，继续判断受力转动信息是否小于预设转动阈值，并确定第一脱手检测结果为中间状态；其中，中间状态为无法确定当前驾驶状态为脱手状态或者接管状态的驾驶状态。
可选的，第二脱手检测结果获取模块320，包括：手握状态获取单元，设置为通过复阻抗传感器，获取方向盘的双手握、单手握、手指接触、非手部接触、或者未接触的手握状态作为接触状态信息。
可选的，第二脱手检测结果获取模块320，包括：第二脱手检测结果确定单元，设置为若接触状态信息为双手握或者单手握，确定第二脱手检测结果为接管状态；第二脱手检测结果确定单元，还设置为若接触状态信息为手指接触或者非手部接触，确定第二脱手检测结果为中间状态；第二脱手检测结果确定单元，还设置为若接触状态信息为未接触，确定第二脱手检测结果为脱手状态；其中，中间状态为无法确定当前驾驶状态为脱手状态或者接管状态的驾驶状态。
可选的，方向盘脱手状态检测模块330，包括：方向盘脱手状态检测单元。
第一脱手检测结果和第二脱手检测结果均包括：脱手状态、接管状态、中间状态和故障状态，其中，中间状态为无法确定当前驾驶状态为脱手状态或者接管状态的驾驶状态；方向盘脱手状态检测单元，设置为当第一脱手检测结果为故障状态时，根据第二脱手检测结果检测车辆是否属于方向盘脱手状态；方向盘脱手状态检测单元，还设置为当第二脱手检测结果为故障状态时，根据第一脱手检测结果检测车辆是否属于方向盘脱手状态；方向盘脱手状态检测单元，还设置为当第一脱手检测结果和第二脱手检测结果均不为故障状态时，执行如下操作：若第一脱手检测结果和第二脱手检测结果均不为中间状态，则根据第一脱手检测结果检测车辆是否属于方向盘脱手状态；若第一脱手检测结果为中间状态，第二脱手检测结果不为中间状态，根据第二脱手检测结果检测车辆是否属于方向盘脱手状态；若第一脱手检测结果不为中间状态，第二脱手检测结果为中间状态，根据第一脱手检测结果检测车辆是否属于方向盘脱手状态。
可选的，该装置，还包括：安全驾驶提示模块，设置为在根据第一脱手检测结果和第二脱手检测结果，检测车辆是否属于方向盘脱手状态之后，若检测 车辆属于方向盘脱手状态，提示车辆的驾驶员握紧方向盘安全驾驶。
本申请实施例所提供的车辆的方向盘脱手状态的检测装置可执行本申请任意实施例所提供的车辆的方向盘脱手状态的检测方法，具备执行方法相应的功能模块。
实施例四
图4是本申请实施例四提供的一种车载设备的结构示意图，如图4所示，该设备包括：一个或多个处理器410，图4中以一个处理器410为例；存储器420；第一类传感器450和第二类传感器460。
所述设备还可以包括：输入装置430和输出装置440。
第一类传感器450，设置为实时获取与方向盘匹配的受力转动信息；第二类传感器460，设置为实时获取与所述方向盘匹配的接触状态信息。
所述设备中的处理器410、存储器420、输入装置430、输出装置440、第一类传感器450和第二类传感器460可以通过总线或者其他方式连接，图4中以通过总线连接为例。
存储器420作为一种非暂态计算机可读存储介质，可设置为存储软件程序、计算机可执行程序以及模块，如本申请实施例中的一种车辆的方向盘脱手状态的检测方法对应的程序指令/模块(例如，附图3所示的第一脱手检测结果获取模块310，第二脱手检测结果获取模块320和方向盘脱手状态检测模块330)。处理器410通过运行存储在存储器420中的软件程序、指令以及模块，从而执行计算机设备的多种功能应用以及数据处理，即实现上述方法实施例的一种车辆的方向盘脱手状态的检测方法，即：通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据所述受力转动信息，获取第一脱手检测结果；通过第二类传感器实时获取与所述方向盘匹配的接触状态信息，并根据所述接触状态信息，获取第二脱手检测结果；根据所述第一脱手检测结果和所述第二脱手检测结果，检测所述车辆是否属于方向盘脱手状态。
存储器420可以包括存储程序区和存储数据区，其中，存储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储根据计算机设备的使用所创建的数据等。此外，存储器420可以包括高速随机存取存储器，还可以包括非暂态性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非暂态性固态存储器件。在一些实施例中，存储器420可选包括相对于处理器410远程设置的存储器，这些远程存储器可以通过网络连接至终端设备。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
输入装置430可设置为接收输入的数字或字符信息，以及产生与计算机设 备的用户设置以及功能控制有关的键信号输入。输出装置440可包括显示屏等显示设备。
实施例五
本申请实施例五提供了一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现如本申请实施例提供的一种车辆的方向盘脱手状态的检测方法：通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据所述受力转动信息，获取第一脱手检测结果；通过第二类传感器实时获取与所述方向盘匹配的接触状态信息，并根据所述接触状态信息，获取第二脱手检测结果；根据所述第一脱手检测结果和所述第二脱手检测结果，检测所述车辆是否属于方向盘脱手状态。
可以采用一个或多个计算机可读的介质的任意组合。计算机可读介质可以是计算机可读信号介质或者计算机可读存储介质。计算机可读存储介质例如可以是——但不限于——电、磁、光、电磁、红外线、或半导体的系统、装置或器件，或者任意以上的组合。计算机可读存储介质的例子(非穷举的列表)包括：具有一个或多个导线的电连接、便携式计算机磁盘、硬盘、随机存取存储器(Random Access Memory，RAM)、只读存储器(Read-Only Memory，ROM)、可擦式可编程只读存储器(Erasable Programmable Read-Only-Memory，EPROM)或闪存、光纤、便携式紧凑磁盘只读存储器(Compact Disc Read-Only Memory，CD-ROM)、光存储器件、磁存储器件、或者上述的任意合适的组合。在本文件中，计算机可读存储介质可以是任何包含或存储程序的有形介质，该程序可以被指令执行系统、装置或者器件使用或者与其结合使用。
计算机可读的信号介质可以包括在基带中或者作为载波一部分传播的数据信号，其中承载了计算机可读的程序代码。这种传播的数据信号可以采用多种形式，包括——但不限于——电磁信号、光信号或上述的任意合适的组合。计算机可读的信号介质还可以是计算机可读存储介质以外的任何计算机可读介质，该计算机可读介质可以发送、传播或者传输用于由指令执行系统、装置或者器件使用或者与其结合使用的程序。
计算机可读介质上包含的程序代码可以用任何适当的介质传输，包括——但不限于——无线、电线、光缆、射频(Radio Frequency，RF)等，或者上述的任意合适的组合。
可以以一种或多种程序设计语言或其组合来编写用于执行本申请操作的计算机程序代码，所述程序设计语言包括面向对象的程序设计语言—诸如Java、Smalltalk、C++，还包括常规的过程式程序设计语言—诸如”C”语言或类似的程序设计语言。程序代码可以完全地在用户计算机上执行、部分地在用户计算 机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中，远程计算机可以通过任意种类的网络——包括局域网(Local Area Network，LAN)或广域网(Wide Area Network，WAN)—连接到用户计算机，或者，可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。

Claims (10)

  1. 一种车辆的方向盘脱手状态的检测方法，包括：
    通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据所述受力转动信息，获取第一脱手检测结果；
    通过第二类传感器实时获取与所述方向盘匹配的接触状态信息，并根据所述接触状态信息，获取第二脱手检测结果；
    根据所述第一脱手检测结果和所述第二脱手检测结果，检测所述车辆是否属于方向盘脱手状态。
  2. 根据权利要求1所述的方法，其中，所述通过第一类传感器实时获取与方向盘匹配的受力转动信息，包括：
    通过扭矩传感器，获取所述方向盘的扭矩值作为所述受力转动信息。
  3. 根据权利要求2所述的方法，其中，所述根据所述受力转动信息，获取第一脱手检测结果，包括：
    判断所述受力转动信息是否小于预设转动阈值；
    响应于所述受力转动信息小于所述预设转动阈值的判断结果，确定第一持续时长，其中，所述第一持续时长为所述受力转动信息小于所述预设转动阈值的持续时长；
    在所述第一持续时长超过脱手状态时长阈值的情况下，确定所述第一脱手检测结果为脱手状态；在所述第一持续时长未超过所述脱手状态时长阈值的情况下，继续判断所述受力转动信息是否小于所述预设转动阈值，并确定所述第一脱手检测结果为中间状态；
    响应于所述受力转动信息不小于所述预设转动阈值的判断结果，确定第二持续时长，其中，第二持续时长为所述受力转动信息不小于所述预设转动阈值的持续时长；
    在所述第二持续时长超过接管状态时长阈值的情况下，确定所述第一脱手检测结果为接管状态；在所述第二持续时长未超过接管状态时长阈值的情况下，继续判断所述受力转动信息是否小于所述预设转动阈值，并确定所述第一脱手检测结果为中间状态；
    其中，所述中间状态为无法确定当前驾驶状态为所述脱手状态或者所述接管状态的驾驶状态。
  4. 根据权利要求1所述的方法，其中，所述通过第二类传感器实时获取与所述方向盘匹配的接触状态信息，包括：
    通过复阻抗传感器，获取所述方向盘的双手握、单手握、手指接触、非手部接触、或者未接触的手握状态作为所述接触状态信息。
  5. 根据权利要求4所述的方法，其中，所述根据所述接触状态信息，获取第二脱手检测结果，包括：
    在所述接触状态信息为双手握或者单手握的情况下，确定所述第二脱手检测结果为接管状态；
    在所述接触状态信息为手指接触或者非手部接触的情况下，确定所述第二脱手检测结果为中间状态；
    在所述接触状态信息为未接触的情况下，确定所述第二脱手检测结果为脱手状态；
    其中，所述中间状态为无法确定当前驾驶状态为脱手状态或者接管状态的驾驶状态。
  6. 根据权利要求1所述的方法，其中，所述根据所述第一脱手检测结果和所述第二脱手检测结果，检测所述车辆是否属于方向盘脱手状态，包括：
    所述第一脱手检测结果和所述第二脱手检测结果均包括：脱手状态、接管状态、中间状态和故障状态，其中，所述中间状态为无法确定当前驾驶状态为脱手状态或者接管状态的驾驶状态；
    在所述第一脱手检测结果为所述故障状态的情况下，根据所述第二脱手检测结果检测所述车辆是否属于所述方向盘脱手状态；
    在所述第二脱手检测结果为所述故障状态的情况下，根据所述第一脱手检测结果检测所述车辆是否属于所述方向盘脱手状态；
    在所述第一脱手检测结果和所述第二脱手检测结果均不为所述故障状态的情况下，执行如下操作：
    在所述第一脱手检测结果和所述第二脱手检测结果均不为所述中间状态的情况下，根据所述第一脱手检测结果检测所述车辆是否属于所述方向盘脱手状态；
    在所述第一脱手检测结果为所述中间状态，且所述第二脱手检测结果不为所述中间状态的情况下，根据所述第二脱手检测结果检测所述车辆是否属于所述方向盘脱手状态；
    在所述第一脱手检测结果不为所述中间状态，且所述第二脱手检测结果为所述中间状态的情况下，根据所述第一脱手检测结果检测所述车辆是否属于所述方向盘脱手状态。
  7. 根据权利要求1所述的方法，所述在根据所述第一脱手检测结果和所述第二脱手检测结果，检测所述车辆是否属于方向盘脱手状态之后，还包括：
    在检测所述车辆属于所述方向盘脱手状态的情况下，提示所述车辆的驾驶员握紧所述方向盘进行安全驾驶。
  8. 一种车辆的方向盘脱手状态的检测装置包括：
    第一脱手检测结果获取模块，设置为通过第一类传感器实时获取与方向盘匹配的受力转动信息，并根据所述受力转动信息，获取第一脱手检测结果；
    第二脱手检测结果获取模块，设置为通过第二类传感器实时获取与所述方向盘匹配的接触状态信息，并根据所述接触状态信息，获取第二脱手检测结果；
    方向盘脱手状态检测模块，设置为根据所述第一脱手检测结果和所述第二脱手检测结果，检测所述车辆是否属于方向盘脱手状态。
  9. 一种车载设备，包括：
    至少一个处理器；
    第一类传感器，设置为实时获取与方向盘匹配的受力转动信息；
    第二类传感器，设置为实时获取与所述方向盘匹配的接触状态信息；
    存储装置，设置为存储至少一个程序，
    当所述至少一个程序被所述至少一个处理器执行，使得所述至少一个处理器实现如权利要求1-7任一项所述的一种车辆的方向盘脱手状态的检测方法。
  10. 一种计算机可读存储介质，存储有计算机程序，该程序被处理器执行时实现如权利要求1-7任一项所述的一种车辆的方向盘脱手状态的检测方法。
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