The embodiment of the invention provides a driver hand release state detection method and device, equipment and a medium, and the method comprises the steps: obtaining an initial torque value and a wheel speed of a target vehicle, obtaining an initial torque growth rate according to the initial torque value and a preset torque-torque growth rate incidence relation, and determining an attenuation coefficient according to the wheel speed; correcting the initial torque growth rate based on the attenuation coefficient to obtain a corrected torque growth rate, and accumulating the torque growth rates to obtain an accumulated torque growth rate; comparing the accumulated torque growth rate with a preset torque growth rate threshold value to determine a driver hand release state of the target vehicle; the attenuation coefficient of the torque growth rate is determined through the bumping degree of the road, the accumulated torque growth rate is corrected according to the attenuation coefficient, so that the more accurate accumulated torque growth rate is obtained, the hand release state of the driver is judged according to the more accurate accumulated torque growth rate, the hand release state detection accuracy is improved, and the driver experience is improved. Therefore, the safety of automatic driving is improved.

    本发明的实施例提供一种驾驶员脱手状态检测方法、装置、设备及介质,方法包括通过获取目标车辆的初始扭矩值和车轮轮速,根据初始扭矩值和预设扭矩‑扭矩增长率关联关系得到初始扭矩增长率,根据车轮轮速确定衰减系数;基于衰减系数修正初始扭矩增长率,得到修正扭矩增长率,并将扭矩增长率累加,得到累加扭矩增长率;将累加扭矩增长率和预设扭矩增长率阈值做比较,以确定目标车辆的驾驶员脱手状态;通过道路的颠簸程度确定扭矩增长率的衰减系数,根据衰减系数对累加扭矩增长率进行修正,从而得到更加准确的累加扭矩增长率,并根据更加准确的累加扭矩增长率判断驾驶员脱手状态,提升了脱手状态检测的准确性,从而提高了自动驾驶的安全性。


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    Title :

    Driver hand release state detection method, device and equipment and medium


    Additional title:

    一种驾驶员脱手状态检测方法、装置、设备及介质


    Contributors:
    WANG QING (author) / CHEN CHANGYOU (author)

    Publication date :

    2023-05-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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