Systems and methods for hands-on-wheel detection
View Patent ↗A method hands-on-wheel detection includes receiving a handwheel angle signal from a sensor associated with a handwheel of a vehicle and generating, based on a handwheel angle indicated by the handwheel angle signal, a handwheel speed signal and a handwheel acceleration signal. The method also includes synchronizing the handwheel speed signal and the handwheel acceleration signal by generating a delayed handwheel speed signal and a delayed handwheel acceleration signal. The method also includes generating an operator torque estimation signal based on, at least, the delayed handwheel speed signal and the delayed handwheel acceleration signal. The method also includes determining whether hands of an operator of the vehicle are on the handwheel based on the operator torque estimation signal.
1 . A method for hands-on-wheel detection, the method comprising:
receiving, via a serial communication bus, a handwheel angle signal from a sensor associated with a handwheel of a vehicle;
setting, via the serial communication bus, an update handwheel angle signal indicator to true;
generating, based on a handwheel angle indicated by the handwheel angle signal and based on determining using the serial communication bus that the update handwheel angle signal indicator is set to true, a handwheel speed signal and a handwheel acceleration signal;
synchronizing the handwheel speed signal and the handwheel acceleration signal by generating a delayed handwheel speed signal and a delayed handwheel acceleration signal;
generating a friction value by passing a product of a friction direction signal and a friction magnitude scale value through a low pass filter;
calculating a damping value by determining a product of a handwheel speed value, indicated by the delayed handwheel speed signal, and a damping coefficient scale value; and
calculating an inertia value by determining a product of a handwheel acceleration value, indicated by the delayed handwheel acceleration signal, and a handwheel inertia scale value;
generating an operator torque estimation signal based on, at least, the delayed handwheel speed signal, the delayed handwheel acceleration signal, the friction value, the damping value, and the inertia value; and
determining whether hands of an operator of the vehicle are on the handwheel based on the operator torque estimation signal.
2 . The method of claim 1 , wherein the handwheel is associated with an electric power steering system of the vehicle.
3 . The method of claim 1 , wherein the handwheel is associated with a hydraulic steering system of the vehicle.
4 . The method of claim 3 , wherein the hydraulic steering system includes a magnetic actuator incorporated into a valve assembly of the hydraulic steering system.
5 . The method of claim 1 , further comprising:
generating a delayed valve toque signal by delaying a received valve torque signal.
6 . The method of claim 5 , wherein generating the operator torque estimation signal is further based on the delayed received value torque signal.
7 . The method of claim 1 , wherein the sensor associated with the handwheel of the vehicle includes a handwheel position sensor.
8 . A system for hands-on-wheel detection, the system comprising:
a processor; and
a memory including instructions that, when executed by the processor, cause the processor to:
receive, via a serial communication bus, a handwheel angle signal from a sensor associated with a handwheel of a vehicle;
set, via the serial communication bus, an update handwheel angle signal indicator to true;
generate, based on a handwheel angle indicated by the handwheel angle signal and based on determining using the serial communication bus that the update handwheel angle signal indicator is set to true, a handwheel speed signal and a handwheel acceleration signal;
synchronize the handwheel speed signal and the handwheel acceleration signal by generating a delayed handwheel speed signal and a delayed handwheel acceleration signal;
generate a friction value by passing a product of a friction direction signal and a friction magnitude scale value through a low pass filter;
calculate a damping value by determining a product of a handwheel speed value, indicated by the delayed handwheel speed signal, and a damping coefficient scale value;
calculate an inertia value by determining a product of a handwheel acceleration value, indicated by the delayed handwheel acceleration signal, and a handwheel inertia scale value;
generate an operator torque estimation signal based on, at least, the delayed handwheel speed signal, the delayed handwheel acceleration signal, the friction value, the damping value, and the inertia value; and
determine whether hands of an operator of the vehicle are on the handwheel based on the operator torque estimation signal.
9 . The system of claim 8 , wherein the handwheel is associated with an electric power steering system of the vehicle.
10 . The system of claim 8 , wherein the handwheel is associated with a hydraulic steering system of the vehicle.
11 . The system of claim 10 , wherein the hydraulic steering system includes a magnetic actuator incorporated into a valve assembly of the hydraulic steering system.
12 . The system of claim 8 , wherein the instructions further cause the processor to:
generate a delayed valve toque signal by delaying a received valve torque signal.
13 . The system of claim 12 , wherein the instructions further cause the processor to generate the operator torque estimation signal further based on the delayed received value torque signal.
14 . The system of claim 8 , wherein the sensor associated with the handwheel of the vehicle includes a handwheel position sensor.
15 . An apparatus for hands-on-wheel detection, the apparatus comprising:
a processor; and
a memory including instructions that, when executed by the processor, cause the processor to:
receive, via a serial communication bus, a handwheel angle signal from a sensor associated with a handwheel of a vehicle;
set, via the serial communication bus, an update handwheel angle signal indicator to true;
generate, based on a handwheel angle indicated by the handwheel angle signal and based on determining using the serial communication bus that the update handwheel angle signal indicator is set to true, a handwheel speed signal and a handwheel acceleration signal;
synchronize the handwheel speed signal and the handwheel acceleration signal by generating a delayed handwheel speed signal and a delayed handwheel acceleration signal;
calculate a damping value by determining a product of a handwheel speed value, indicated by the delayed handwheel speed signal, and a damping coefficient scale value;
calculate an inertia value by determining a product of a handwheel acceleration value, indicated by the delayed handwheel acceleration signal, and a handwheel inertia scale value;
calculate a friction value by passing a product of a friction direction signal and a friction magnitude scale value through a low pass filter;
generate a delayed valve toque signal by delaying a received valve torque signal;
generate an operator torque estimation signal based on the damping value, the inertia value, the friction value, and the delayed received value torque signal; and
determine whether hands of an operator of the vehicle are on the handwheel based on the operator torque estimation signal.
16 . The apparatus of claim 15 , wherein the handwheel is associated with an electric power steering system of the vehicle.
17 . The apparatus of claim 15 , wherein the handwheel is associated with a hydraulic steering system of the vehicle.
18 . The apparatus of claim 17 , wherein the hydraulic steering system includes a magnetic actuator incorporated into a valve assembly of the hydraulic steering system.