Detecting driver grip on steering wheel

• US 8,909,428 B1
• Filed: 01/09/2013
• Issued: 12/09/2014
• Est. Priority Date: 01/09/2013
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Lombrozo, Peter Craig
• Primary Examiner(s): Beaulieu, Yonel
• Application Number:
  US13/737,541
• Time in Patent Office: 699 Days
• Field of Search: 701 41- 42, 180/400, 180412-413, 180443-444, 180/6.2, 180 644- 65
• US Class Current: 701/42
• CPC Class Codes: B62D 1/04 Hand wheels
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 5/0481 monitoring the steering system, e.g. failures
• CPC Class Codes: B62D 6/008 Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
• CPC Class Codes: B62D 6/10 characterised by means for sensing or determining torque

Abstract

Aspects of the disclosure relate generally to determining by what degree a driver is gripping a steering wheel. In one example, a computer may send an electrically assisted power steering system (EPS) motor an excitation command to move. The EPS motor may respond by moving a flexible coupling between the steering wheel and the EPS motor. This may cause a corresponding movement at the steering wheel. A torque sensor may generate pattern data by monitoring the flexible coupling during the movement. The EPS motor may generate system position data for the entire steering system, for example, from the tires to the steering wheel. The pattern data and the system position data may be compared by the computer to determine the degree of grip. In this regard, the computer may determine the degree of a driver'"'"'s grip without the need for additional sensors.

Claims

1. A method comprising:

sending an excitation instruction to move a steering wheel of a vehicle to an electrically assisted power steering system (EPS) motor;

in response to receiving the excitation instruction, moving, by the EPS motor, the steering wheel;

monitoring the movement of the steering wheel by a torque sensor;

generating, by the torque sensor, pattern data based on the monitoring;

generating, by the EPS motor, system position data for a steering system of the vehicle; and

determining, by a processor, whether a driver is gripping the steering wheel based on the pattern data and the system position data.

2. The method of claim 1, wherein moving the steering wheel includes oscillating, by the EPS motor, a flexible coupling which causes the steering wheel to oscillate.

3. The method of claim 1, wherein monitoring the movement of the steering wheel by the torque sensor includes monitoring a flexible coupling between the steering wheel and the EPS motor.

4. The method of claim 1, further comprising, before moving the steering wheel, performing calibration based on a characteristic of the driver thereby increasing the accuracy of the determination of whether the driver is gripping the steering wheel.

5. The method of claim 1, further comprising, before moving the steering wheel, performing calibration based on a characteristic of the steering system thereby increasing the accuracy of the determination of whether the driver is gripping the steering wheel.

6. The method of claim 1, wherein determining whether the driver is gripping the steering wheel is further based on a comparison of the system position data and the pattern data.

7. The method of claim 1, further comprising, when the processor determines that the driver is gripping the steering wheel based on the pattern data and the system position data, the processor further determines a degree of the gripping based on the pattern data and the system position data.

8. The method of claim 1, further comprising:

determining, by the EPS motor, an amount of power required to move the steering wheel according to the excitation command; and

comparing a value indicative of the amount of power to a threshold value;

wherein determining whether the driver is gripping the steering wheel is further based on the comparison.

9. The method of claim 1, further comprising:

determining, by the EPS motor, an amount of power required to move the steering wheel according to the excitation command; and

comparing a value indicative of the amount of power to a first threshold value and a second threshold value, wherein the second threshold value is greater than the first threshold value;

when the processor determines that the driver is gripping the steering wheel based on the pattern data and the system position data, the processor further determines a degree of the gripping based on the comparison.

10. The method of claim 9, wherein when the value indicative of the threshold value is greater than the first threshold value but less than the threshold value, the processor determines the degree of the gripping to be a first degree, and when the value indicative of the threshold value is greater than the second threshold value, the processor determines the degree of the gripping to be a second degree, wherein the second degree indicates a stronger gripping force than the first degree.

11. A method comprising:

sending an excitation instruction to move a steering wheel of a vehicle to an electrically assisted power steering system (EPS) motor;

in response to receiving the excitation instruction, moving, by the EPS motor, the steering wheel;

determining, by the EPS motor an amount of power required to move the steering wheel according to the excitation instruction;

comparing a value indicative of the amount of power to a first threshold value;

determining whether a driver is gripping the steering wheel based on the comparison to the first threshold value;

comparing the value indicative of the amount of power to a second threshold value, wherein the second threshold value is greater than the first threshold value; and

determining a degree of the gripping based on the comparison to the second threshold value.

12. The method of claim 11, wherein moving the steering wheel includes oscillating, by the EPS motor, a flexible coupling which causes the steering wheel to oscillate.

13. The method of claim 11, wherein when the value indicative of the threshold value is greater than the first threshold value but less than the second threshold value, the processor determines the degree of the gripping to be a first degree, and when the value indicative of the threshold value is greater than the second threshold value, the processor determines the degree of the gripping to be a second degree, wherein the second degree indicates a stronger gripping force than the first degree.

14. The method of claim 11, further comprising, before moving the steering wheel, performing calibration based on a characteristic of the driver thereby increasing the accuracy of the determination of whether the driver is gripping the steering wheel.

15. The method of claim 11, further comprising, before moving the steering wheel, performing calibration based on a characteristic of the steering system thereby increasing the accuracy of the determination of whether the driver is gripping the steering wheel.

16. A system comprising:

a processor configured to send an excitation instruction to move a steering wheel of a vehicle;

an electrically assisted power steering system (EPS) motor configured to receive the excitation instruction and respond by moving the steering wheel, the EPS motor being further configured to generate system position data for a steering system of the vehicle;

a torque sensor for monitoring the movement of the steering wheel and generating pattern data based on the monitoring;

wherein the processor is further configured to determine whether a driver is gripping the steering wheel based on the pattern data and the system position data.

17. A system comprising:

a processor configured to;

send an instruction to move a steering wheel of a vehicle to an electrically assisted power steering system (EPS) motor;

receive from the EPS motor system position data for a steering system of the vehicle;

receive from a torque sensor pattern data based on movement of the steering wheel by the EPS motor in response to the excitation command; and

determine whether a driver is gripping the steering wheel based on the pattern data and the system position data.

18. A system comprising:

a processor configured to;

cause an electrically assisted power steering system (EPS) motor to move a steering wheel of a vehicle;

receive, from the EPS motor, a value indicative of the amount of power used by the EPS motor to cause the steering wheel to move;

compare the value to a first threshold value;

determine whether a driver is gripping the steering wheel based on the comparison to the first threshold value;

compare the value indicative of the amount of power to a second threshold value, wherein the second threshold value is greater than the first threshold value; and

determine a degree of the gripping based on the comparison to the second threshold value.

19. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor, cause the processor to perform a method, the method comprising:

sending an excitation instruction to move a steering wheel of a vehicle to an electrically assisted power steering system (EPS) motor;

receiving from the EPS motor system position data for a steering system of the vehicle l;

receiving from a torque sensor pattern data based on movement of the steering wheel by the EPS motor; and

determining whether a driver is gripping the steering wheel based on the pattern data and the system position data.