US Patent 11752938 Apparatus and method for determining state of driver

A driver state determining method may include: obtaining a touch sensing value corresponding to a touch input by a driver of a vehicle, and a steering torque sensing value corresponding to a steering torque input from the driver; determining a state of the driver as one of a hand-off state, a normal grip state, an abnormal grip state, or a hand-off determination pending state based on at least one of the touch sensing value or the steering torque sensing value, and outputting a guide message according to the determination result.