The invention discloses a method for detecting hand release of a driver of an intelligent vehicle. The method comprises the following steps: constructing a mathematical model of a steering system; designing a Kalman filter to predict a steering wheel torque and a torsion bar torque; collecting a data set in a vehicle hand-release state and a non-hand-release state, and training to obtain system state parameters; according to the predicted difference value between the hand torque of the driver and the torque of the torsion bar, detecting the hand release state; and sending a notification according to the hand release state detection result. According to the technical scheme, on the basis of the mathematical model of the steering system, the Kalman filter is designed to predict the torque of the steering wheel and the rotation angle of the torsion bar, data sets under the vehicle hand-releasing state and the non-hand-releasing state are collected, the system state parameters are obtained through training, and according to the predicted difference value of the hand torque and the torsion bar torque of a driver, the hand-releasing judgment is made. No additional hardware such as a sensor and a camera is needed, cost is reduced, and hand-free detection is timely and reliable.
本发明公开了一种智能车辆的驾驶员脱手检测方法,包括以下步骤:构建转向系统的数学模型;设计卡尔曼滤波器以预测方向盘扭矩和扭杆力矩;采集车辆脱手和非脱手状态下数据集,训练得到系统状态参数;根据预测出来驾驶员手力距和扭杆力距的差值,进行脱手状态检测;根据脱手状态检测结果发出通知。上述技术方案基于转向系统的数学模型,设计卡尔曼滤波器,来预测方向盘扭矩和扭杆转角,采集车辆脱手和非脱手状态下数据集,训练得到系统状态参数,根据预测出来驾驶员手力距和扭杆力距的差值,就那些个脱手的判断,无需增设传感器和摄像头等额外硬件,降低成本且脱手检测及时可靠。
Method for detecting hand release of driver of intelligent vehicle
一种智能车辆的驾驶员脱手检测方法
2021-11-09
Patent
Electronic Resource
Chinese
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