DETECTING OPERATOR CONTACT WITH A STEERING WHEEL

1 . An autonomous vehicle for detecting operator contact with a steering wheel, comprising:

an apparatus configured perform steps comprising:

applying a torque to at least a portion of a steering system of an autonomous vehicle;

identifying a measured torque for a steering wheel of the autonomous vehicle;

calculating, based on the applied torque, an expected torque for the steering wheel; and

determining, based on a difference between the measured torque and the expected torque, whether an operator of the autonomous vehicle is in contact with the steering wheel.

2 . The autonomous vehicle of claim 1 , wherein the applied torque is applied in response to a driving decision of an autonomous driving system.

3 . The autonomous vehicle of claim 1 , wherein applying the torque comprises applying, as the torque, a pulse to the steering wheel independent of a steering control of the autonomous vehicle.

4 . The autonomous vehicle of claim 3 , wherein the steps further comprise determining one or more attributes of the pulse based on one or more environmental conditions of the autonomous vehicle.

5 . The autonomous vehicle of claim 4 , wherein the one or more attributes comprise a frequency of the pulse, a magnitude of the pulse, or a duration of the pulse.

6 . The autonomous vehicle of claim 3 , wherein the steps further comprise determining to apply the pulse in response to an event.

7 . A method for detecting operator contact with a steering wheel, comprising:

applying a torque to at least a portion of a steering system of an autonomous vehicle;

identifying a measured torque for a steering wheel of the autonomous vehicle;

calculating, based on the applied torque, an expected torque for the steering wheel; and

determining, based on a difference between the measured torque and the expected torque, whether an operator of the autonomous vehicle is in contact with the steering wheel.

8 . The method of claim 7 , wherein the applied torque is applied in response to a driving decision of an autonomous driving system.

9 . The method of claim 7 , wherein applying the torque comprises applying, as the torque, a pulse to the steering wheel independent of a steering control of the autonomous vehicle.

10 . The method of claim 9 , further comprising determining one or more attributes of the pulse based on one or more environmental conditions of the autonomous vehicle.

11 . The method of claim 10 , wherein the one or more attributes comprise a frequency of the pulse, a magnitude of the pulse, or a duration of the pulse.

12 . The method of claim 9 , further comprising determining to apply the pulse in response to an event.

13 . An apparatus for detecting operator contact with a steering wheel, the apparatus configured to perform steps comprising:

applying a torque to at least a portion of a steering system of an autonomous vehicle;

identifying a measured torque for a steering wheel of the autonomous vehicle;

calculating, based on the applied torque, an expected torque for the steering wheel; and

determining, based on a difference between the measured torque and the expected torque, whether an operator of the autonomous vehicle is in contact with the steering wheel.

14 . The apparatus of claim 13 , wherein the applied torque is applied in response to a driving decision of an autonomous driving system.

15 . The apparatus of claim 13 , wherein applying the torque comprises applying, as the torque, a pulse to the steering wheel independent of a steering control of the autonomous vehicle.

16 . The apparatus of claim 15 , wherein the steps further comprise determining one or more attributes of the pulse based on one or more environmental conditions of the autonomous vehicle.

17 . The apparatus of claim 16 , wherein the one or more attributes comprise a frequency of the pulse, a magnitude of the pulse, or a duration of the pulse.

18 . The apparatus of claim 13 , wherein the steps further comprise determining to apply the pulse in response to an event.

19 . A computer program product disposed upon a non-transitory computer readable medium, the computer program product comprising computer program instructions for detecting operator contact with a steering wheel that, when executed, cause a computer system of an autonomous vehicle to carry out the steps of:

applying a torque to at least a portion of a steering system of an autonomous vehicle;

identifying a measured torque for a steering wheel of the autonomous vehicle;

calculating, based on the applied torque, an expected torque for the steering wheel; and

determining, based on a difference between the measured torque and the expected torque, whether an operator of the autonomous vehicle is in contact with the steering wheel.

20 . The computer program product of claim 19 , wherein applying the torque comprises applying, as the torque, a pulse to the steering wheel independent of a steering control of the autonomous vehicle.