The invention provides a driver intervention identification method and device, a storage medium and electronic equipment. The method comprises the steps that the rotating speed of a steering wheel of a vehicle is collected; determining an angular acceleration of the steering wheel based on the rotational speed of the steering wheel; when the angular acceleration of the steering wheel is not in the angular acceleration interval and the duration is not less than the preset duration, determining that the driver of the vehicle intervenes the operation; the angular acceleration is an interval determined by using a system dynamic model of a steer-by-wire system of the vehicle, and the angular acceleration interval comprises an upper limit angular acceleration and a lower limit angular acceleration under the condition that the driver input torque of the vehicle is zero; in the process of determining whether the driver intervenes, the angular acceleration of the steering wheel is determined based on the rotating speed of the steering wheel of the vehicle, then whether the driver intervenes is judged by combining the angular acceleration interval output by the system dynamic model, data used in the whole process is less, the operand in the recognition process is reduced, and the recognition efficiency is improved. And the operation time and the judgment time are shortened.
本发明提供一种驾驶员介入识别方法及装置、存储介质及电子设备,包括:采集车辆的方向盘的转速;基于方向盘的转速,确定方向盘的角加速度;当方向盘的角加速度未处于角加速度区间,且持续的时长不小于预设时长时,确定车辆的驾驶员已经介入操作;角加速度为使用为车辆的线控转向系统的系统动态模型确定的区间,角加速度区间包含车辆的驾驶员输入力矩为零的情况下的上限角加速度和下限角加速度;在确定驾驶员是否介入的过程中,基于车辆的方向盘的转速确定方向盘的角加速度,然后结合系统动态模型输出的角加速度区间判断驾驶员是否介入,整个过程所使用的数据少,减少识别过程中的运算量,缩短运算时长和判定所花费的时间。
Driver intervention identification method and device, storage medium and electronic equipment
一种驾驶员介入识别方法及装置、存储介质及电子设备
2024-11-08
Patent
Electronic Resource
Chinese
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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