Grip determining system
A grip determining system includes a contact sensor provided in a steering operation member of a vehicle and configured such that capacitance of the contact sensor varies according to a contact position of a driver on the steering operation member, a steering torque sensor configured to output an output value according to steering torque generated by a steering operation by the driver, and a controller configured to determine whether the driver is gripping the steering operation member. The controller is configured to estimate the contact position of the driver on the steering operation member based on the capacitance of the contact sensor, set a threshold according to the estimated contact position of the driver, and determine that the driver is gripping the steering operation member in a case where the output value of the steering torque sensor is equal to or more than the threshold.
1 . A grip determining system, comprising:
a contact sensor provided in a steering operation member of a vehicle and configured such that capacitance of the contact sensor varies according to a contact position of a driver on the steering operation member;
a steering torque sensor configured to output an output value according to steering torque generated by a steering operation by the driver on the steering operation member; and
a controller configured to determine whether the driver is gripping the steering operation member based on the capacitance of the contact sensor and the output value of the steering torque sensor,
wherein the controller is configured to
estimate the contact position of the driver on the steering operation member based on the capacitance of the contact sensor,
set a threshold according to the estimated contact position of the driver, and
determine that the driver is gripping the steering operation member in a case where the output value of the steering torque sensor is equal to or more than the threshold,
wherein the steering torque sensor is configured such that the output value of the steering torque sensor becomes larger in a case where the driver is gripping a first portion of the steering operation member than in a case where the driver is gripping a second portion of the steering operation member, and
the controller is configured to set the threshold to a larger value in a case where the controller estimates that the contact position of the driver on the steering operation member is the first portion of the steering operation member than in a case where the controller estimates that the contact position of the driver on the steering operation member is the second portion of the steering operation member.
2 . The grip determining system according to claim 1 , wherein the steering torque sensor is configured such that the output value of the steering torque sensor becomes larger in a case where the driver is gripping an upper portion as the first portion of the steering operation member than in a case where the driver is gripping a lower portion as the second portion of the steering operation member, and
the controller is configured to set the threshold to a larger value in a case where the controller estimates that the contact position of the driver on the steering operation member is the upper portion of the steering operation member than in a case where the controller estimates that the contact position of the driver on the steering operation member is the lower portion of the steering operation member.
3 . The grip determining system according to claim 2 , wherein the vehicle includes a steering device configured to turn wheels,
the steering torque sensor includes:
a rotor connected to the steering operation member and configured to rotate around a rotation axis;
a sleeve connected to the steering device and arranged around the rotor; and
a torsion bar connecting the rotor and the sleeve, and
the rotor is offset more largely from the sleeve in a direction perpendicular to the rotation axis and thus the output value of the steering torque sensor becomes larger in a case where the driver is gripping the upper portion of the steering operation member than in a case where the driver is gripping the lower portion of the steering operation member.
4 . The grip determining system according to claim 1 , wherein the controller is configured to
set the threshold to a first value in a case where the controller estimates that the contact position of the driver on the steering operation member is the first portion of the steering operation member,
set the threshold to a second value that is smaller than the first value in a case where the controller estimates that the contact position of the driver on the steering operation member is the second portion of the steering operation member, and
set the threshold to a third value that is smaller than the first value and larger than the second value in a case where the controller estimates that the contact position of the driver on the steering operation member is a third portion between the first portion and the second portion of the steering operation member.
5 . The grip determining system according to claim 1 , wherein the controller is configured to
execute autonomous driving control of the vehicle,
set the threshold according to the contact position of the driver in a case where a stop condition to stop the autonomous driving control is satisfied while the autonomous driving control is being executed, and
determine that the driver is gripping the steering operation member and transfer driving authority of the vehicle to the driver in a case where the output value of the steering torque sensor is equal to or more than the threshold.
6 . The grip determining system according to claim 1 , wherein the contact sensor includes a plurality of capacitive sensors, and
in a case where the plurality of capacitive sensors includes a normal capacitive sensor and a failed capacitive sensor, the controller is configured to
estimate the contact position of the driver on the steering operation member based on capacitance of the normal capacitive sensor,
set the threshold according to the estimated contact position of the driver, and
determine that the driver is gripping the steering operation member in a case where the output value of the steering torque sensor is equal to or more than the threshold.
7 . The grip determining system according to claim 1 , wherein the contact sensor includes a plurality of capacitive sensors, and
in a case where the plurality of capacitive sensors includes a normal capacitive sensor and a failed capacitive sensor and the controller cannot estimate the contact position of the driver on the steering operation member based on capacitance of the normal capacitive sensor, the controller is configured to
estimate that the contact position of the driver on the steering operation member is a portion of the steering operation member that corresponds to the failed capacitive sensor,
set the threshold according to the estimated contact position of the driver, and
determine that the driver is gripping the steering operation member in a case where the output value of the steering torque sensor is equal to or more than the threshold.