Hands-off detection device and steering device
A hands-off detection device includes: a first steering angle acquisition unit configured to acquire a first steering angle of a steering wheel; a second steering angle acquisition unit configured to acquire a second steering angle of a steering mechanism connected to the steering wheel via a torsion bar; a steering angle estimation unit configured to obtain an estimation angle of the first steering angle in a state where the steering wheel is not being grasped on a basis of the second steering angle; and a grasping state determination unit configured to determine a grasping state of the steering wheel on a basis of the frequency component of a angle difference between the first steering angle and the estimation angle and a reference frequency component being the frequency component of the angle difference in the state where the steering wheel is not being grasped.
1. A steering device including a hands-off detection device comprising:
a first steering angle sensor configured to acquire a first steering angle being a steering angle of a steering wheel;
a second steering angle sensor configured to acquire a second steering angle being a steering angle of a steering mechanism connected to the steering wheel via a torsion bar; and
an electronic controller including a processor, the electronic controller configured to:
obtain an estimation angle of the first steering angle in a state where the steering wheel is not being grasped on a basis of the second steering angle;
calculate an angle difference between the first steering angle and the estimation angle;
calculate a frequency component of the angle difference;
store a reference frequency component being the frequency component of the angle difference in the state where the steering wheel is not being grasped; and
determine a grasping state of the steering wheel on a basis of the frequency component and the reference frequency component,
wherein the electronic controller is further configured to calculate an index value based on a frequency component difference being a difference between the frequency component and the reference frequency component and to determine the grasping state according to the index value,
wherein the electronic controller is further configured to calculate each of a first frequency component difference and a second frequency component difference being the frequency component difference at each of a first frequency and a second frequency, and to calculate the index value including a weighted sum of a first term being a squared value or absolute value of the first frequency component difference, a second term being a squared value or absolute value of the second frequency component difference, and a third term being a product of the first frequency component difference and the second frequency component difference, and
wherein the steering device applies steering force to the steering mechanism according to a result of the determination of the grasping state of the steering wheel by the hands-off detection device.
2. The steering device according to claim 1 , wherein the electronic controller is further configured to calculate the index value on a basis of a squared value or absolute value of the frequency component difference.
3. The steering device according to claim 1 , wherein signs of weight coefficients for the first term and the second term are different from a sign of a weight coefficient for the third term.
4. A steering device including a hands-off detection device comprising:
a first steering angle sensor configured to acquire a first steering angle being a steering angle of a steering wheel;
a second steering angle sensor configured to acquire a second steering angle being a steering angle of a steering mechanism connected to the steering wheel via a torsion bar; and
an electronic controller including a processor, the electronic controller configured to:
obtain an estimation angle of the first steering angle in a state where the steering wheel is not being grasped on a basis of the second steering angle;
calculate an angle difference between the first steering angle and the estimation angle;
calculate a frequency component of the angle difference;
store a reference frequency component being the frequency component of the angle difference in the state where the steering wheel is not being grasped; and
determine a grasping state of the steering wheel on a basis of the frequency component and the reference frequency component,
wherein the electronic controller is further configured to calculate an index value based on a frequency component difference being a difference between the frequency component and the reference frequency component and to determine the grasping state according to the index value,
wherein N is a natural number equal to or more than 2, and the electronic controller is further configured to set an Nth-order row vector and an Nth-order column vector including the frequency component difference at each of N frequencies as components, and to calculate a matrix product of the Nth-order row vector, a weight coefficient matrix being an Nth-order square matrix, and the Nth-order column vector to calculate the index value, and
wherein the steering device applies steering force to the steering mechanism according to a result of the determination of the grasping state of the steering wheel by the hands-off detection device.
5. The steering device according to claim 4 , wherein signs of diagonal components of the weight coefficient matrix are different from signs of components other than the diagonal components of the weight coefficient matrix.
6. The steering device according to claim 1 , wherein the electronic controller is further configured to increase or decrease a counter according to a result of a comparison between the index value and a threshold value, and to compare a value of the counter with a predetermined value to determine the grasping state.