A vehicle includes an occupant monitoring system and a processing circuit coupled to the occupant monitoring system. The occupant monitoring system is configured to acquire occupant data regarding an occupant of the vehicle. The processing circuit is configured to receive the occupant data; determine a vehicle operation command based on the occupant data, the vehicle operation command configured to affect operation of the vehicle while the vehicle is in a robotic driving mode; and provide the vehicle operation command to a vehicle system.

A vehicle system of a vehicle may comprise one or more processors configured to receive sensor data from one or more sensors associated with the vehicle, determine whether a driver of the vehicle is touching a steering wheel of the vehicle based on the sensor data, upon determination that the driver of the vehicle is touching the steering wheel, perform shared lateral control of the vehicle, and upon determination that the driver of the vehicle is not touching the steering wheel, perform traded lateral control of the vehicle.

A method and device for recognizing a hands-off state at a vehicle steering wheel. At least one steering variable is detected at the steering wheel and supplied as input data to a trained machine learning model. The model comprises a trained main model and a preceding trained adapter model. The adapter model determines general input data from specific input data. The main model recognizes the hands-off state from the general input data and outputs associated state information. This approach allows adapting the machine learning model to various usage conditions with reduced effort by only modifying the adapter model while keeping the main model fixed.

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.

A driving assistance device includes a steering operation member configured to receive a steering operation, a grip sensor provided in the steering operation member and configured to detect a grip position of a driver, and a controller configured to execute driving assistance control of a vehicle. The controller is configured to store grip tendency data related to a tendency of the grip position of the driver in execution of the driving assistance control, determine whether the driver is gripping the steering operation member with a dominant hand based on the grip tendency data and a detection result of the grip sensor, and make contents of the driving assistance control different depending on whether determining that the driver is gripping the steering operation member with the dominant hand or determining that the driver is not gripping the steering operation member with the dominant hand.

A vehicular driving assist system includes a camera disposed in a vehicle and at least viewing driver hand positions of hands of a driver present in the vehicle. The vehicular driving assist system determines driver hand positions via processing of image data captured by the camera. The vehicular driving assist system compares determined driver hand positions to a plurality of discrete driver hand positions, which includes (i) a plurality of discrete driver hand positions at a steering wheel of the vehicle, and (ii) a plurality of discrete driver hand positions at an interior portion of the vehicle and not at the steering wheel of the vehicle. The vehicular driving assist system, responsive to processing of image data captured by the camera and based at least in part on comparison of determined driver hand positions to the plurality of discrete driver hand positions, determines a level of attentiveness of the driver.