Device and method for detecting manual guidance of a steering wheel
A device ( 1 ) and a method for detecting manual guidance of a steering wheel by a driver, have a torque sensor ( 3 ) for measuring a steering wheel torque (T s ) of the steering wheel; an angular speed sensor ( 4 ) for measuring an angular speed (ω c ) of a steering wheel column connected to the steering wheel; and a calculation unit ( 5 ) for calculating a driver torque (T d ) exerted by the driver on the steering wheel as a function of the measured steering wheel torque (T s ) and the measured angular speed (ω c ) of the steering wheel column, and for filtering the calculated driver torque (T d ) to determine a steering angle component (θ c T ) which is compared with a threshold (θ tol ) to recognize manual guidance of the steering wheel by the driver.
1. A device for detecting manual guidance of a steering wheel by a driver, comprising:
(a) a torque sensor configured to measure a steering wheel torque of the steering wheel;
(b) an angular speed sensor configured to measure an angular speed of a steering wheel column connected to the steering wheel; and
(c) a calculation unit configured to calculate a driver torque exerted by the driver on the steering wheel as a function of the steering wheel torque and the angular speed of the steering wheel column, and configured to filter the driver torque to determine a steering angle component, and configured to compare the steering angle component with a threshold to recognize manual guidance of the steering wheel by the driver.
2. The device according to claim 1 , wherein the calculation unit comprises a first filter configured to filter the steering wheel torque measured by the torque sensor to determine an angular speed of the torque sensor.
3. The device according to claim 2 , wherein the calculation unit further comprises a totalizer configured to add the angular speed of the torque sensor to the angular speed of the steering wheel column to produce an angular speed total.
4. The device according to claim 3 , wherein the calculation unit further comprises a second filter configured to filter the angular speed total to calculate the driver torque exerted by the driver on the steering wheel.
5. The device according to claim 4 , wherein the calculation unit further comprises a third filter configured to filter the driver torque to determine the steering angle component.
6. The device according to claim 5 , wherein the calculation unit further comprises a comparator configured to compare the steering angle component with the threshold to recognize the manual guidance of the steering wheel by the driver.
7. The device according to claim 6 , wherein the comparator is configured to set a flag that indicates whether or not the manual guidance of the steering wheel by the driver has been recognized.
8. The device according to claim 7 , further comprising a control unit configured to evaluate the flag to warn the driver and/or to prevent automated vehicle interventions.
9. The device according to claim 1 , wherein the calculation unit comprises one or more low-pass filters.
10. The device according to claim 1 , wherein the calculation unit is configured to calculate the driver torque as a function of only the steering wheel torque and the angular speed of the steering wheel column.
11. A method of detecting manual guidance of a steering wheel by a driver, comprising the steps:
(a) measuring a steering wheel torque of the steering wheel;
(b) measuring an angular speed of a steering wheel column connected to the steering wheel;
(c) calculating a driver torque exerted by the driver on the steering wheel as a function of the steering wheel torque and the angular speed of the steering wheel column;
(d) filtering the driver torque to determine a steering angle component caused by the driver torque; and
(e) comparing the steering angle component with a threshold to recognize manual guidance of the steering wheel by the driver.
12. The method according to claim 11 , wherein the measuring of the steering wheel torque is performed by a torque sensor, and further comprising filtering the steering wheel torque to determine an angular speed of the torque sensor.
13. The method according to claim 12 , further comprising adding the angular speed of the torque sensor to the angular speed of the steering wheel column to produce an angular speed total.
14. The method according to claim 13 , wherein the calculating of the driver torque comprises filtering the angular speed total.
15. The method according to claim 12 , wherein the driver torque is calculated as a function of only the steering wheel torque and the angular speed of the steering wheel column.