ENGINE CONTROL DEVICE AND METHOD FOR ADJUSTING FRICTION IN A VEHICLE STEERING DEVICE

Abstract

Motor control device (100), comprising: a computer (110) that calculates friction control information for controlling the friction of a steering device based on vehicle condition information, which includes information about the condition of a vehicle and preset system friction information; and a control unit (120) that either performs friction reduction control to decrease the friction of the steering device or friction increase control to increase the friction of the steering device, based on the friction control information, where the vehicle status information includes information about the vehicle's steering torque.

Description

BACKGROUND area

[0001] The disclosure relates to a device and a method for engine control and in particular a device and a method for controlling an engine so that the friction in a vehicle steering device can be adjusted. Description of the related technique

[0002] In the vehicle's steering system, friction causes a frictional force that acts in the opposite direction to the external force acting on the steering wheel, so the driver feels resistance when steering. The resistance transmitted to the steering wheel by friction can be adjusted to some extent by the torque generated by the steering motor.

[0003] However, the torque generated by the steering motor is limited by the motor specifications, such as motor size and maximum power. To increase the friction of the steering mechanism to a sufficient level, the motor must be correspondingly larger.

[0004] In the prior art, for example, DE 10 2019 208 201 B3 discloses a method for operating a steering system of a vehicle, in which an actuator is provided for generating a torque at a steering handle of the vehicle, wherein the following steps are carried out: - Generating the torque up to a maximum torque when the maximum torque is released, and limited to a lower limit torque when the maximum torque is limited, - Detecting a vehicle situation, - Releasing the maximum torque when the vehicle situation is recognized as an entry and / or exit situation in order to stiffen the steering handle, - Limiting the maximum torque when the vehicle situation is recognized as driving operation of the vehicle.

[0005] DE 10 2020 100 789 A1 discloses a steer-by-wire steering system with a handwheel and a handwheel actuator configured to secure the handwheel's position. The security mechanism includes detecting when the steer-by-wire steering system enters an entry / exit operating mode. The security mechanism further includes calculating a holding torque command based on the difference between the handwheel's current angle and a target angle, caused by an input torque, based on the detection of this transition. The security mechanism further includes generating a holding torque according to the holding torque command to secure the handwheel's position. BRIEF SUMMARY

[0006] The aforementioned problem is solved by an engine control device with the features of claim 1 and by an engine control method with the features of claim 9. Advantageous further developments are set out in the dependent claims.

[0007] The disclosure provides an engine control device and a method that are capable of controlling the magnitude of friction of the steering device depending on the condition of the vehicle.

[0008] The disclosure provides for an engine control device and a method that are capable of reducing the torque required for the engine when controlling the friction of the steering device and optimizing the engine size.

[0009] The disclosure also provides for an engine control device and an engine control method that are capable of performing more sophisticated friction control by monitoring the friction of the steering device.

[0010] In one aspect, the present embodiments may provide an engine control device comprising a computer that calculates friction control information for controlling the friction of a steering device based on vehicle state information, which includes information about the state of a vehicle and preset system friction information, and a control unit that performs either friction reduction control for controlling the reduction of the friction of the steering device or friction increase control for controlling the increase of the friction of the steering device based on the friction control information, wherein the vehicle state information includes steering torque information about the vehicle.

[0011] In another aspect, the present embodiments may provide an engine control method comprising a friction calculation step that calculates friction control information to control the friction of a steering device based on vehicle state information, which includes information regarding the state of a vehicle and preset system friction information, and a friction control step that either performs friction reduction control to control that the friction of the steering device is reduced, or friction increase control to control that the friction of the steering device is increased, based on the friction control information, wherein the vehicle state information includes steering torque information about the vehicle.

[0012] The disclosure may provide for an engine control device and a method that are capable of controlling the magnitude of friction of the steering device depending on the condition of the vehicle.

[0013] The disclosure may provide an engine control device and a method that are capable of reducing the torque required for the engine when controlling the friction of the steering device and of optimizing the engine size.

[0014] The disclosure may also provide for an engine control device and method that enables more sophisticated friction control by monitoring the friction of the steering device. DESCRIPTION OF THE DRAWINGS

[0015] The foregoing and further tasks, features and advantages of the disclosure will become clearer from the following detailed description when it is taken into account together with the accompanying drawings, in which: Fig. 1 is a block diagram showing an engine control device according to the disclosure; Fig. 2 is a view showing an exemplary construction of a steering device with an engine control device according to an embodiment; Fig. 3 is a view showing an example of the friction tuning of a steering device mechanism according to an embodiment; Fig. 4, Fig. 5 and Fig. Figure 6 shows diagrams illustrating an example of the friction control of a steering device according to an embodiment; Fig. Figure 7 is a view showing an example of the implementation of a friction reduction control according to an embodiment; Fig. 8 is a view showing an example of the implementation of a friction enhancement control according to an embodiment; Fig.9 is a flowchart illustrating an engine control method according to an exemplary embodiment; and Fig. 10 is a flowchart showing an exemplary implementation for friction monitoring and correction according to an embodiment. DETAILED DESCRIPTION

[0016] In the following description of examples or embodiments of the disclosure, reference is made to the accompanying drawings, which show specific examples or embodiments that can be implemented for illustrative purposes and in which the same reference numerals and symbols can be used to designate the same or similar components, even if they are shown in different accompanying drawings. Furthermore, in the following description of examples or embodiments of the disclosure, detailed descriptions of known functions and components included herein are omitted where it is determined that such a description might make the subject matter rather unclear in some embodiments of the disclosure.The terms used herein, such as "include," "exhibit," "contain," "consist of," "made of," and "formed of," are generally intended to permit the addition of other components, unless the terms are used with the expression "only." The singular forms used herein include the plural forms unless the condition clearly indicates otherwise.

[0017] Expressions such as "first," "second," "A," "B," "(A)," or "(B)" may be used herein to describe elements of revelation. None of these terms are used to define any importance, order, sequence, or number of elements, etc., but are used merely to distinguish the respective element from other elements.

[0018] When it is mentioned that a first element is "connected or coupled" to a second element, or that it "touches or overlaps," this should be interpreted to mean that the first element can be "directly connected or coupled" to the second element, or that it can "directly touch or overlap," but also that a third element can be "arranged" "between" the first and second elements, or that the first and second elements can be "connected or coupled" to each other via a fourth element, or that they can "touch or overlap," etc. Here, the second element can be at least one of two or more elements that are "connected or coupled" to each other, "contact or overlap," etc.

[0019] When time-related terms such as "after", "coming after", "next", "before" and the like are used to describe processes or actions of elements or configurations or sequences or steps of actuation, processing, manufacturing procedures, these terms may be used to describe processes or actions that are not consecutive or follow one another, as long as the term "direct" or "immediately" is not used in conjunction with them.

[0020] When any dimensions, relative sizes, etc., are mentioned, it should also be borne in mind that numerical values ​​for an element or characteristic, or corresponding information (e.g., degree, area, etc.), include a margin of error or tolerance that may be caused by various factors (e.g., process factors, internal or external influences, noise, etc.), even if a relevant description is not specified. Furthermore, the term "could" can encompass all meanings of the term "may."

[0021] In the disclosure, friction is defined as the friction that occurs during the operation of a device. To describe the friction associated with rotation in the steering device, e.g., the rotation of the steering wheel, the steering column, and the steering motor, friction is defined, as used here, as torque (unit: Nm).

[0022] Fig.Figure 1 is a block diagram showing an engine control device according to the disclosure.

[0023] As in Fig. As shown in Figure 1, a motor control device 100 according to the disclosure can comprise a computer 110 and a control unit 120. The computer 110 and the control unit 120 can be connected to each other.

[0024] For example, an engine control device 100 may include a computer 110 that calculates friction control information for controlling the friction of a steering device based on vehicle condition information, which contains information about the condition of a vehicle, and preset system friction information, and a control unit 120 that performs either a friction reduction control to control a reduction in the friction of the steering device, or a friction increase control to control an increase in the friction of the steering device based on the friction control information.

[0025] The computer 110 can calculate friction control information based on vehicle condition information and system friction information.

[0026] Vehicle condition information can contain at least one or more pieces of information about the vehicle's condition. Vehicle condition information can encompass all information that can be recorded or measured regarding the condition of the powered vehicle.

[0027] The vehicle status information can include, for example, information about the steering torque, vehicle speed, steering angle, or the vehicle's shift status.

[0028] The steering torque information can include information about the steering torque exerted on the steering column by an external force applied to the steering wheel. Friction within the steering mechanism can act in the opposite direction to the steering torque.

[0029] Vehicle speed information can include information about the vehicle's speed. In this case, the vehicle speed information can be generated based on the signal detected by a vehicle speed sensor. Alternatively, the vehicle speed information can also include other information about the vehicle speed generated based on a component capable of measuring vehicle speed, such as a wheel position sensor, radar, or lidar, in addition to the vehicle speed sensor's detection signal.

[0030] The steering angle information can include information about the steering wheel's steering angle. The steering angle can include at least one relative or absolute steering angle. The steering angle information can be generated based on the signal detected by the steering angle sensor. Alternatively, the steering angle information can include any steering angle-related information generated based on a component capable of measuring steering angle, such as an engine position sensor or a torque sensor that is not the steering angle sensor.

[0031] The shift status information can contain information about the vehicle's shift state. The shift status can include all information about the shift state of a vehicle with a manual transmission and a vehicle with an automatic transmission.

[0032] For vehicles with manual transmission, the shift status information may include, for example, information about the neutral state, reverse gear, and the state corresponding to each gear stage, and for vehicles with automatic transmission, the shift status information may include information about the park state, reverse gear, neutral state, driving state, and the state corresponding to each gear stage.

[0033] The system friction information can contain information about the system friction of the steering device. For example, system friction can be defined as the friction essentially generated by the steering mechanism, regardless of the vehicle's condition.

[0034] In this case, the system friction information can be in the form of a stored default value. Alternatively, the system friction information can be generated in the vehicle based on the result of a measurement of the steering device friction according to a predefined procedure.

[0035] For example, information calculated based on the result of measuring the friction of the steering mechanism by applying current to the steering motor to measure friction while the steering wheel is not moved and the vehicle is not moving can be generated as system friction information.

[0036] The system friction information can be corrected. For example, the system friction information can be corrected based on information calculated from the friction measurement results described above.

[0037] In this case, the correction of the system friction information can be controlled so that it is performed when a predefined condition is met. For example, the existing system friction information can be compared with the result of the friction measurement to calculate a friction difference value, and if the friction difference value equals or exceeds a preset correction reference value, the system friction information can be corrected.

[0038] The friction within the system can affect the calculation of the magnitude of the motor torque transmitted to the steering motor. Since the maximum power output of a motor is generally related to its size, the motor specifications and the required motor size can vary depending on the range of motor torque to be generated in the steering motor.

[0039] For example, if the frictional torque required for the steering device is in the range of 0 Nm to 30 Nm for each vehicle condition and the system friction is 0 Nm, the steering motor will be required to have a motor torque in the range of 0 Nm to 30 Nm, so the required motor should be able to generate a torque of up to 30 Nm.

[0040] As another example, if the frictional torque is in the range of 0Nm to 30Nm and the system friction is 15Nm, the motor torque can be generated in the range of -15Nm to +15Nm, so that the required motor should be able to generate a torque of up to 15Nm.

[0041] In other words, the maximum torque required for the steering motor varies depending on the magnitude of the system friction of the steering device, so the size of the steering motor also varies depending on the maximum torque output.

[0042] The Calculator 110 can calculate friction torque information based on vehicle condition information and preset table information. The friction torque information can include details about the friction torque required for the steering system for each vehicle condition.

[0043] The table information can contain data, stored in tabular form, about the frictional torque required for the steering system for each vehicle condition. For example, the table information can include tabular data about the frictional torque required for the steering system for each vehicle condition, such as the entry condition, exit condition, locking stop condition, and driving condition. In this case, the driving condition can be further subdivided into slow and fast driving conditions based on a preset high / low reference vehicle speed.

[0044] In some cases, the table information can be identified as a driving condition without differentiating between slow and fast driving conditions. In this case, the friction torque described below can be calculated based on information about the vehicle speed and a preset formula, instead of as a fixed value determined from the table information.

[0045] For example, the computer 110 can calculate the frictional torque based on the vehicle speed and the table information.

[0046] For example, if it is determined that the vehicle speed is below a preset stop reference speed, it can be determined that the vehicle is in the entry or exit state, and the frictional torque required in the entry or exit state can be calculated as frictional torque information based on the table information.

[0047] As another example, the vehicle can be determined to be moving if the vehicle speed information is determined to be the stop reference speed or higher, and the friction torque required in the driving state can be calculated based on the table information as the friction torque information.

[0048] In some cases, if the vehicle is determined to be in a driving state based on vehicle state information, the friction torque information can be calculated based on a formula specified on the basis of vehicle speed information.

[0049] As another example, the computer 110 can calculate the friction torque information based on the steering angle information and the table information.

[0050] For example, if the steering angle information is determined as a preset limit steering angle or more, the vehicle can be determined to be in a locking state or locking stop state, and the friction torque required in the locking state can be calculated as friction torque information based on the table information.

[0051] The calculation of the frictional torque is described below with reference to the Fig.4 to 6 are described in more detail.

[0052] The 110 computer can calculate friction control information based on vehicle condition information and system friction information. As described above, friction torque information can be calculated based on vehicle condition information and table information, and then friction control information can be calculated based on friction torque information and system friction information.

[0053] The friction torque information can be calculated, for example, by determining the required friction torque corresponding to the vehicle condition from the table information based on the vehicle condition information. The magnitude of the torque to be transmitted to the steering motor can be calculated by comparing the information on the friction torque and the system friction, and it can be determined which friction reduction or friction increase control should be implemented.

[0054] The direction in which the friction control is actually performed can then be determined based on the steering torque information, whereby the friction control information is calculated. For example, it can be specified that friction reduction control should be performed and that the steering torque is specified as clockwise. In this case, the friction control information can be calculated so that the steering motor is controlled to generate a clockwise friction torque corresponding to the steering torque information in order to reduce the friction of the steering device, or so that a smaller friction torque than the existing friction torque is controlled to generate the steering motor.

[0055] In contrast, it can be specified that friction increase control should be implemented and that the steering torque information is counterclockwise. In this case, the friction control information can be calculated so that the steering motor is controlled to generate a counterclockwise friction torque, which is the opposite direction to the steering torque information, in order to increase the friction of the steering device, or so that a greater friction torque than the existing friction torque is controlled to be generated for the steering motor.

[0056] The computer 110 can compare the result of the friction measurement control by the control unit 120 with the system friction information to calculate the friction differential value as described below. If the friction differential value is a preset correction reference value or higher, the system friction information can be corrected based on the result of the friction measurement control.

[0057] The control unit 120 can perform either friction reduction control or friction increase control based on the friction control information. Specifically, the friction control information can include information for controlling the generation of motor torque of a specific magnitude in a specific direction.

[0058] The magnitude and direction of the motor torque can be determined based on information about the friction torque, system friction, and steering torque, as described with reference to the computer 110.

[0059] The magnitude of the engine torque can be represented, for example, by the following equation. [Equation 1] Motor torque = Friction torque − System friction

[0060] If the magnitude of the engine torque is negative, the steering motor can be controlled to generate engine torque in the same direction as the steering torque, so that the friction generated in the steering mechanism is less than the system friction. Conversely, if the engine torque is positive, the steering motor can be controlled to generate engine torque in the opposite direction to the steering torque.

[0061] The control unit 120 can perform friction measurement control based on the friction measurement control information to control the measurement of the steering device's friction. The friction measurement control information can be contained within the friction control information.

[0062] Since the result of the friction measurement can be used for comparison with the system friction of the steering device and for correction, it must be measured in a state where the vehicle and steering wheel are stationary, so that no friction other than the system friction is measured. Accordingly, the friction measurement control can be set to perform the measurement when a preset friction measurement condition is met.

[0063] For example, the friction measurement condition can be set to include at least one of the following conditions: a condition where the vehicle's shift state information is determined to be in park or neutral, a condition where the vehicle speed information is determined to be less than a preset stop reference speed, or a condition where the steering torque information is determined to be less than a preset stop reference torque.

[0064] The friction measurement control can be implemented by applying a friction current to the steering motor to measure the friction of the steering device. In this case, the friction current can be supplied to the steering motor when the condition for friction measurement described above is met, thus increasing the accuracy of the friction measurement.

[0065] If the friction measurement control is carried out in such a way that the friction of the steering device is measured, the computer 110 can compare the result of the friction measurement with the system friction information to calculate the friction difference value.

[0066] If the friction difference value is smaller than a preset correction reference value, this may mean that there is no significant change between the friction measurement result and the existing system friction information, so that friction reduction or friction increase control can be carried out without correcting the system friction information.

[0067] If the friction difference value equals or exceeds the correction reference value, a correction can be made to apply the friction measurement result to the system friction information, and friction reduction or friction increase control can be performed based on the corrected system friction information.

[0068] As described above, friction measurement control and correction of system friction information can reflect changes in the steering system friction, which may be due to component wear or weather changes, for example, and thus enable more accurate friction control.

[0069] In cases where the vehicle has a steer-by-wire steering system, i.e., where the steering wheel and steering column are physically separate from the rack and pinion system and the wheels, and steering is accomplished via an electronic linkage, the friction control and friction reduction / increase control described here can play a more important role in increasing steering stability and preventing accidents.

[0070] For example, a lock-up or loss of power steering (LOA) requires increased steering friction. High stability can be achieved when driving the steering system by increasing system friction and implementing friction enhancement control as described here.

[0071] Fig. Figure 2 is a view showing an exemplary construction of a steering device with an engine control device according to an embodiment.

[0072] Referring to Fig. 2 The steering device may comprise at least one of the following components: an engine control device 100, a steering wheel 210, a steering torque sensor 220, a steering column 230 or a steering motor 240.

[0073] For example, the motor control unit 100 can calculate friction torque information based on vehicle condition information and table information. The motor control unit 100 can calculate friction torque information and information about the magnitude of the motor torque to be generated at the steering motor based on friction torque information and system friction information.

[0074] The motor control unit 100 can receive information from the steering torque sensor 220 about the steering torque applied to the steering wheel 210 or the steering column 230. Based on the information about the steering torque and the friction torque, the motor control unit 100 can calculate information about the direction of the motor torque to be generated at the steering motor.

[0075] In other words, the motor control device 100 can calculate the friction control information, including information about the direction and magnitude of the motor torque to be generated for the steering motor, in order to perform friction control based on vehicle condition information, table information, and system friction information.

[0076] The motor control device 100 can then either perform friction reduction control to generate motor torque in the same direction as the steering torque information, or friction increase control to generate motor torque in the opposite direction to the steering torque information, based on the friction control information.

[0077] Fig. Figure 3 is a view showing an example of the friction tuning of a steering device mechanism according to an embodiment.

[0078] In general, the friction of a mechanism can vary depending on the structure in which the individual components are connected. Therefore, friction adjustment can be achieved by modifying the connection structure.

[0079] Similarly, the system friction in the steering device can be adjusted so that every connection structure in the steering device is changed.

[0080] Referring to Fig. 3. According to one embodiment, the steering device may comprise a mechanism with at least one or more interconnected components, and friction may occur when the steering device is in operation. The steering device mechanism may include at least one or more bearings for adjusting the friction between parts.

[0081] The in Fig. The steering mechanism shown in Figure 3 can, for example, comprise at least one first bearing 310, one second bearing 320, or one third bearing 330. The friction tuning of the steering mechanism can be carried out based on the stiffness and damping coefficients of the individual bearings.

[0082] For example, for each of the first bearing 310, the second bearing 320, and the third bearing 330, one of several bearings with different stiffness and damping coefficients is installed. After installation, the friction of the steering mechanism is measured, and based on the measurement result, at least one of the first bearing 310, the second bearing 320, and the third bearing 330 is replaced with a different bearing, and the friction measurement is repeated. In this way, friction tuning can be carried out.

[0083] Another example is that at least one of the first bearing 310, the second bearing 320, or the third bearing 330 can be a thrust bearing. Since the thrust bearing has a characteristic curve with which its stiffness and damping coefficient can be adjusted, in this case, tuning can be carried out using this characteristic curve so that the friction of the steering mechanism has a specific value, even without replacing the bearing.

[0084] By adjusting the system friction of the steering mechanism in this way, the system friction can be set to an appropriate level, taking into account the required frictional torque range for the steering system under each vehicle condition. The system friction can affect the calculation of the magnitude of engine torque transmitted to the steering motor.

[0085] Since the maximum power of a motor is usually related to the size of the motor, the motor specifications and the required motor size can be varied depending on the range of motor torque to be generated in the steering motor.

[0086] In a case where the frictional torque is between 0Nm and 30Nm, for example, with a system friction of 0Nm, a motor with a maximum output of 30Nm, which can generate a motor torque in the range of 0Nm to +30Nm, is required as a steering motor, while with a system friction of 15Nm, a motor with a maximum output of 15Nm, which can generate a motor torque in the range of -15Nm to +15Nm is required.

[0087] In other words, the maximum torque required for the steering motor varies depending on the magnitude of the system friction of the steering device, so the size of the steering motor also varies depending on the maximum torque energy.

[0088] If the system friction tuning for the steering device is performed correctly and the friction control for the steering motor is carried out according to the disclosure based on the tuned system friction, it is possible to increase the efficiency of the friction control while simultaneously optimizing the size of the steering motor. This leads to cost savings and makes the steering device more competitive.

[0089] Fig. 4, Fig. 5 and Fig. Figure 6 shows diagrams illustrating an example of the friction control of a steering device according to an exemplary embodiment.

[0090] Referring to Fig.4 The friction control of the steering device can be carried out according to an exemplary embodiment on the basis of at least one state of an entry state 410, a slow driving state 420, a fast driving state 430, an exit state 440 or a locking stop state 450.

[0091] Fig. Figure 4 is, in particular, a diagram showing information about the entry state 410, the slow-speed state 420, the fast-speed state 430, the exit state 440, and the locking stop state 450 as a function of the friction of the steering device. Table 1 below presents this information in tabular form.

[0092] A configuration for controlling the friction of the steering device using the steering motor is described below with reference to the Fig. 4 to 6 and Tables 1 to 3 are described. [Table 1] Condition of the vehicle Torque (unit: Nm) Get in 20 Drive slowly 1 Driving fast 4 Exit 20 Lockout 30

[0093] Table 1 shows examples of the friction torque information required for the steering system for each vehicle condition. As shown in Table 1, the friction of the steering system can be represented as a torque. In other words, the force corresponding to the torque specified for each condition can be set as the frictional force.

[0094] For example, if the vehicle is in entry state 410 or exit state 440, the friction torque information can be set to 20 Nm. If the steering wheel is in the locking stop state 450, the friction torque information can be set to 30 Nm.

[0095] The locking stop condition 450 may include a condition in which the steering wheel may not be turned in a certain direction, e.g. turning the steering wheel by a preset limit steering angle or more.

[0096] Since the frictional force must act with the steering wheel stopped in entry states 410, exit state 440 and locking stop state 450, the frictional force can be set as a static frictional force in this case.

[0097] As another example, in the slow driving condition 420 of the vehicle the friction torque information can be set to 1 Nm and in the fast driving condition 430 to 4 Nm.

[0098] In the slow driving condition 420 and in the fast driving condition 430, a frictional force must act while the steering wheel is turned, so that the frictional force in this case can be set as a kinetic frictional force.

[0099] The friction of the steering mechanism can be represented based on the engine torque generated in the steering motor and the system friction of the steering mechanism. This can be illustrated using the following equation. [Equation 2] Steering device friction = system friction + engine torque

[0100] The above equation can be summarized as follows to form an equation for engine torque. Engine torque = friction of the steering device - system friction

[0101] In other words, the friction of the steering mechanism can be controlled by controlling the generation of engine torque. For example, to generate less friction in the steering mechanism than the system friction, the engine torque can be controlled to be generated in the same direction as the steering torque, and to generate more friction in the steering mechanism than the system friction, the engine torque can be controlled to be generated in the opposite direction to the steering torque.

[0102] The control can then be carried out in such a way that the frictional torque required for each vehicle condition is achieved, as shown in Table 1.

[0103] Referring to Fig. 5. According to one embodiment, the steering device can perform friction control by generating an engine torque according to each vehicle condition based on the system friction when the system friction is set to a relatively low value.

[0104] Fig. Figure 5 is, in particular, a diagram showing information about the entry state 510, the slow-speed state 520, the fast-speed state 530, the exit state 540, the locking stop state 550, the system friction 560, and the engine torque output 570 in relation to the friction of the steering device. This is presented in tabular form in Table 2 below. [Table 2] Condition of the vehicle Torque (unit: Nm) Get in 20 Drive slowly 1 Driving fast 4 Exit 20 Lockout 30 System friction 1 Reduced engine torque 30

[0105] Table 2 shows an example where the system friction 560 is set to a relatively low value of 1 Nm, along with the friction torque information for each vehicle condition. In this case, the engine torque can be calculated with reference to Equation 2 by subtracting 1 Nm from the steering gear friction.

[0106] According to Fig. According to Table 5 and Table 2, the friction torque is 1 Nm or more in all given vehicle conditions, so a case where the engine torque is calculated as negative does not occur. In other words, only the friction increase control is performed for each vehicle condition.

[0107] For example, the motor torque is calculated as 20 Nm - 1 Nm = +19 Nm in the vehicle's entry state 510 or exit state 540, as 30 Nm - 1 Nm = +29 Nm in the locking stop state 550, and as 4 Nm - 1 Nm = +3 Nm in the high-speed driving state 530, and a friction increase control is carried out to generate a motor torque of the corresponding magnitude, so that the friction control can be performed to meet the friction torque information for each vehicle state.

[0108] Since the engine torque is calculated as 1 Nm - 1 Nm = 0 Nm in the slow driving condition 520 of the vehicle, the vehicle can be driven in the state in which the friction torque information is satisfied, even though the friction control is not carried out separately.

[0109] To implement friction control when the system friction is 1 Nm, the steering device must be equipped with a motor with a maximum energy or output torque of 29 Nm or more, where 29 Nm is the motor torque in the locking stop condition 550. Table 2 shows an example where the steering device consists of a motor with an output torque of 30 Nm in such a case.

[0110] Referring to Fig. 6. If the system friction is set relatively high, the steering device can, according to one embodiment, perform friction control by generating an engine torque according to each vehicle condition based on the system friction set as high.

[0111] Fig.Figure 6 is, in particular, a diagram showing information about the entry state 610, the slow-speed state 620, the fast-speed state 630, the exit state 640, the locking stop state 650, the system friction 660, and the engine torque output 670 in relation to the friction of the steering device. Table 3 below shows the results in tabular form. [Table 3] Condition of the vehicle Torque (unit: Nm) Get in 20 Drive slowly 1 Driving fast 4 Exit 20 Lockout 30 System friction 15 Reduced engine torque 15

[0112] Table 3 shows an example where the system friction has been set to a relatively high value of 15 Nm, along with the friction torque values ​​for each vehicle condition. In this case, the engine torque can be calculated using Equation 2 by subtracting 15 Nm from the steering system friction.

[0113] With reference to Fig.According to Figure 6 and Table 3, the frictional torque can be calculated as negative in some cases and positive in others for any given vehicle condition. In other words, depending on the vehicle condition, friction is either reduced or increased.

[0114] For example, the engine torque is calculated as 20 Nm - 15 Nm = +5 Nm, i.e. a positive number, in the vehicle's entry state 610 or exit state 640, and as 30 Nm - 15 Nm = +15 Nm, i.e. a positive number, in the locking stop state 650, and the friction increase control to generate an engine torque of the respective appropriate magnitude is carried out, so that the friction control can be performed to satisfy the friction torque information for each vehicle state.

[0115] For example, the engine torque in the slow driving condition 620 of the vehicle is calculated as 1 Nm - 15 Nm = -14 Nm, i.e. a negative number, and in the fast driving condition 630 as 4 Nm - 15 Nm = -11 Nm, i.e. a negative number, and a friction reduction control is carried out to generate an engine torque with the respective appropriate magnitude, so that a friction control can be carried out to satisfy the friction torque information for each vehicle condition.

[0116] To implement friction control in such a case, the steering motor must be configured with a maximum energy of 15 Nm or more, since the motor torque in the locked stop state is 650 + 15 Nm and the motor torque in the slow-speed state is 620 - 14 Nm. Table 2 shows an example where the steering device is configured with a motor with an output torque of 15 Nm in such a case.

[0117] A configuration for friction reduction control and friction increase control using the steering motor is described below with reference to the Fig. 7 and Fig. 8 described.

[0118] It is assumed here that for the steering device, table information regarding the friction torque information for each vehicle is set according to Table 3, the system friction of the steering device is set to a relatively high value of 15 Nm, and the steering motor is configured as a motor with a maximum energy or output torque of 15 Nm.

[0119] Fig. Figure 7 is a view showing an example of the implementation of friction reduction control according to an exemplary embodiment.

[0120] As in Fig.As shown in Figure 7, the motor control device 100 can calculate friction control information according to an exemplary embodiment and perform friction reduction control based on the friction control information.

[0121] In this case, the motor control device 100 can be controlled to generate a motor torque 710 in the same direction as the steering torque 720 in order to perform friction reduction control.

[0122] For example, if the stop reference speed is set to 1 km / h, the high / low reference speed to 60 km / h, and the vehicle speed to 50 km / h, the engine control unit 100 can determine that the vehicle is in a slow driving condition and calculate the friction torque as 1 Nm based on the table information from Table 3 and the vehicle condition information.

[0123] Since the system friction information is set to 15 Nm, the motor torque 710 can be calculated as 1 Nm - 15 Nm = -14 Nm. In other words, friction control information can be calculated to generate a motor torque 710 with a magnitude of 14 Nm and in the same direction as the steering torque 720.

[0124] In this case, if an external force is applied to the steering wheel in a counterclockwise direction, the motor control device 100 can receive information about the steering torque from the steering torque sensor 220 and perform a friction increase control to generate a motor torque 710 with a magnitude of 14 Nm and a counterclockwise direction, which is the same direction as the steering torque 720 for the steering motor.

[0125] Since the friction of the steering device, which is composed of system friction 15Nm - motor torque 14Nm =1Nm, is generated, a friction control is carried out which corresponds to the friction torque information 1Nm.

[0126] As another example, if the stop reference speed is set to 1 km / h, the high / low reference speed to 60 km / h, and the vehicle speed to 100 km / h, the motor control device 100 can determine that the vehicle is in a high-speed driving condition and calculate the friction torque as 4 Nm based on the table information from Table 3 and the vehicle condition information.

[0127] Since the system friction information is set to 15 Nm, the motor torque 710 can be calculated as 4 Nm - 15 Nm = -11 Nm. In other words, friction control information can be calculated to generate a motor torque 710 with a magnitude of 11 Nm and the same direction as the steering torque 720.

[0128] If, in this case, an external force acts counterclockwise on the steering wheel, the motor control device 100 can receive information about the steering torque from the steering torque sensor 220 and perform a friction increase control to generate a motor torque 710 with a magnitude of 11 Nm and a counterclockwise direction, which is the same direction as the steering torque 720 for the steering motor.

[0129] Since the friction of the steering device, which is composed of system friction 15 Nm - motor torque 11 Nm = 4 Nm, is generated, a friction control is carried out which corresponds to the friction torque information 4 Nm.

[0130] As another example, the engine control unit 100 can set the table information without distinguishing between slow and fast driving conditions. If the vehicle condition is the driving condition, the friction torque information can be calculated based on information about the vehicle speed and a preset equation, instead of a fixed value determined from the table information.

[0131] For example, the friction torque information can be calculated so that it increases / decreases by 1 Nm every 20 km / h, while at 60 km / h it is 3 Nm. This can be illustrated using the following equation. Friction torque information in driving condition = 3 + (vehicle speed - 60) × 0.05 (Nm)

[0132] According to this equation, the frictional torque at a vehicle speed of 40 km / h can be calculated as 3 + (40-60) × 0.05 = 2 Nm and at a vehicle speed of 100 km / h as 3 + (100-60) × 0.05 = 5 Nm.

[0133] Since the system friction information is set to 15 Nm, the motor torque 710 can be calculated as 2 Nm - 15 Nm = -13 Nm when the vehicle speed is 40 km / h, and when the vehicle speed is 100 km / h, the motor torque 710 can be calculated as 5 Nm - 15 Nm = -10 Nm.

[0134] In other words, if the vehicle speed is 40 m / h, friction control information can be calculated to generate an engine torque 710 with a magnitude of 13 Nm and the same direction as the steering torque 720, and if the vehicle speed is 100 km / h, friction control information can be calculated to generate an engine torque 710 with a magnitude of 10 Nm and the same direction as the steering torque 720.

[0135] In this case, if an external force is applied to the steering wheel in a clockwise direction, the motor control unit 100 can obtain steering torque information from the steering torque sensor 220. Accordingly, if the vehicle speed is 40 km / h, friction enhancement control can be performed to generate a motor torque 710 of 13 Nm in a counterclockwise direction, which is the same direction as the steering torque information for the steering motor. If the vehicle speed is 100 km / h, friction enhancement control can be performed to generate a motor torque 710 of 10 Nm in a counterclockwise direction, which is the same direction as the steering torque information for the steering motor.

[0136] Accordingly, if the vehicle speed is 40 km / h, the friction of the steering device is generated as system friction 15 Nm - engine torque 13 Nm = 2 Nm, the friction control, which fulfills the friction torque information of 2 Nm, is carried out; and if the vehicle speed is 100 km / h, the friction of the system friction is generated as system friction 15 Nm - engine torque 10 Nm = 5 Nm, the friction control, which fulfills the friction torque information of 5 Nm, is carried out.

[0137] Fig. Figure 8 is a view showing an example of the implementation of a friction enhancement control according to an exemplary embodiment.

[0138] As in Fig. As shown in Figure 8, the motor control device 100 can calculate friction control information according to an exemplary embodiment and perform a friction increase control based on the friction control information.

[0139] For example, if the stop reference speed is set to 1 km / h and the vehicle speed information is determined to be 0 km / h, the engine control unit 100 can determine that the vehicle is in a stop state based on the vehicle status information.

[0140] Accordingly, the motor control unit 100 can determine that the vehicle is in the entry or exit state and calculate the friction torque information as 20 Nm based on the vehicle state information and the table information in Table 3.

[0141] Since the system friction information is set to 15 Nm, the motor torque 810 can be calculated as 20 Nm - 15 Nm = +5 Nm. In other words, friction control information can be calculated to generate a motor torque 810 with a magnitude of 5 Nm and in the opposite direction to the steering torque 820.

[0142] In this case, if an external force is applied to the steering wheel counterclockwise, the motor control device 100 can receive information about the steering torque from the steering torque sensor 220 and perform a friction increase control to generate a motor torque 810 of 5 Nm clockwise, which is the opposite direction to the steering torque 820 on the steering motor.

[0143] Since the friction of the steering device, which is composed of system friction 15 Nm + motor torque 5 Nm = 20 Nm, is generated, a friction control is carried out which corresponds to the friction torque information 20 Nm.

[0144] As another example, if the limit steering angle is set to 170° and the steering angle information is determined to be 170°, the engine control unit 100 can determine that the vehicle is in the locking stop state and calculate the friction torque information as 30 Nm based on the table information in Table 3 and the vehicle state information.

[0145] Since the system friction information is set to 15 Nm, the motor torque 810 can be calculated as 30 Nm - 15 Nm = +15 Nm. In other words, friction control information can be calculated to generate a motor torque 810 with a magnitude of 15 Nm and in the opposite direction to the steering torque information.

[0146] In this case, if an external force is applied to the steering wheel counterclockwise, the motor control device 100 can receive information about the steering torque from the steering torque sensor 220 and perform a friction increase control to generate a motor torque 810 of 15 Nm clockwise, which is the opposite direction to the steering torque 820 for the steering motor.

[0147] Since the friction of the steering device, which is the system friction, generates 15 Nm + engine torque 15 Nm = 30 Nm, the friction control is carried out according to the friction torque information of 30 Nm.

[0148] As described above, the motor control device 100 according to the disclosure can adjust the system friction of the steering mechanism and perform either friction reduction or friction increase control according to the friction required depending on the vehicle condition.

[0149] The motor control device 100 can reduce the control range of the friction increase control through friction tuning and friction control. Accordingly, the motor control device 100 can reduce the torque to be generated in the steering motor that is required for friction control. In general, the magnitude of a motor's torque is related to the size of the motor, so if the magnitude of the torque to be generated is reduced, a smaller motor can be used.

[0150] If friction control is performed with a relatively high system friction setting, the driver can still be offered a higher degree of steering stability in the LOA (Loss of Assist) state, in which the vehicle steering assistance does not work, than if the system friction is set relatively high.

[0151] The motor control device 100 is described again below with regard to a procedure, and what has been described above will be omitted if necessary, but also applies to the procedure.

[0152] Fig. Figure 9 is a flowchart illustrating an engine control method according to an exemplary embodiment.

[0153] As in Fig. As shown in Figure 9, an engine control method according to an exemplary embodiment can comprise a friction calculation step S910 and a friction control step S920.

[0154] The friction calculation step S910 can include the calculation of friction control information to control the friction of a steering device based on vehicle condition information, including information about a vehicle condition and preset system friction information.

[0155] The friction calculation step S910 can calculate friction torque information based on the vehicle condition information and the preset table information.

[0156] For example, the friction calculation step S910 can calculate friction torque information based on vehicle speed information and table information, and calculate friction torque information based on steering angle information and table information.

[0157] The system friction information can be corrected. For example, the system friction information can be corrected based on information calculated from the friction measurement results described above.

[0158] The friction control step S920 can either include performing a friction reduction control to reduce the friction of the steering device or a friction increase control to increase the friction of the steering device based on the friction control information.

[0159] In particular, the friction control information can contain information for controlling the generation of a motor torque of a certain magnitude in a certain direction.

[0160] If the magnitude of the engine torque is negative, the steering motor can be controlled to generate engine torque in the same direction as the steering torque, so that the friction generated in the steering mechanism is less than the system friction. Conversely, if the engine torque is positive, the steering motor can be controlled to generate engine torque in the opposite direction to the steering torque.

[0161] The friction control step S920 can include performing a friction measurement control based on the friction measurement control information to control the measurement of the steering device's friction.

[0162] The friction measurement control can be configured to perform the measurement when a predefined condition is met. For example, the friction measurement condition can be set to include at least one of the following: a condition where the vehicle's shift state information is determined to be in park or neutral; a condition where the vehicle speed information is determined to be less than a preset stop reference speed; or a condition where the steering torque information is determined to be less than a preset stop reference torque.

[0163] The friction measurement control can be implemented by applying a friction current to the steering motor to measure the friction of the steering device. In this case, the friction current can be supplied to the steering motor when the condition for friction measurement described above is met, thus increasing the accuracy of the friction measurement.

[0164] If the friction measurement control is carried out in such a way that the friction of the steering device is measured, the computer 110 can compare the result of the friction measurement with the system friction information to calculate the friction difference value.

[0165] If the friction difference value is smaller than a preset correction reference value, this may mean that there is no significant change between the friction measurement result and the existing system friction information, so that friction reduction or friction increase control can be carried out without correcting the system friction information.

[0166] If the friction difference value equals or exceeds the correction reference value, a correction can be made to apply the friction measurement result to the system friction information, and friction reduction or friction increase control can be performed based on the corrected system friction information.

[0167] Fig. 10 is a flowchart showing an exemplary implementation for friction monitoring and correction according to an embodiment.

[0168] Referring to Fig.10 The friction monitoring and correction according to an embodiment may comprise a friction monitoring step S1010, an overcorrection reference value determination step S1020, a system friction correction step S1030 and a friction control step S1040.

[0169] Friction monitoring step S1010 can include monitoring the friction of the steering device. The monitoring can be configured to be performed when a predefined friction monitoring condition is met.

[0170] For example, the friction monitoring condition can be set so that the friction monitoring step S1010 is carried out at dawn when the driver is not in the vehicle or when the vehicle has been parked for a longer period of time.

[0171] In particular, the friction monitoring condition can be set to include at least one of the following states: a state in which the switching state information about the vehicle is determined to be in a parked or neutral state, a state in which the vehicle speed information is determined to be less than a preset stop reference speed, or a state in which the steering torque information is determined to be less than a preset stop reference torque.

[0172] Friction monitoring can be carried out by measuring the friction of the steering device by applying a friction measurement current to the steering motor.

[0173] Step S1020 for determining the overcorrection reference value can compare the friction monitoring result with the system friction information to calculate a friction difference value and determine whether the friction difference value is a preset correction reference value or more.

[0174] Accordingly, step S1030 for correcting system friction can be performed if the friction difference value is determined to be greater than or equal to the correction reference value. Alternatively, if the friction difference value is less than the correction reference value, friction control step S1040 can be performed.

[0175] The system friction correction step S1030 can correct the system friction information based on the result of the friction monitoring.

[0176] In cases where the friction differential value is higher than or greater than the correction reference value, the accuracy of the friction control may be reduced if the friction control is performed based on the available system friction information. This allows the system friction information to be corrected using information calculated as the friction of the steering device based on the results of the friction monitoring.

[0177] The friction control step S1040 can perform either friction reduction control or friction increase control based on the friction control information.

[0178] In this case, the friction control information can be calculated based on the existing system friction information or the corrected friction information, depending on the result of the friction monitoring.

[0179] In some cases, even when the friction differential value is smaller than the correction reference value, friction control can be performed by using a portion of the friction monitoring result to calculate the friction control information without correcting the existing system friction information. This improves the accuracy of the friction control.

[0180] As described above, the engine control device and the method according to the disclosure can control the amount of friction of the steering device depending on the condition of the vehicle.

[0181] In particular, it is possible to perform either friction reduction control or friction increase control, depending on the friction required for the vehicle's condition, e.g., when the driver enters or exits the vehicle, when the road condition must be taken into account during driving, or when the steering wheel is locked, based on the system friction set in the steering mechanism.

[0182] The locking stop function is particularly important when the physical rotation of the steering wheel is not limited, e.g., by the use of a steer-by-wire steering system in the vehicle. This allows the friction control according to the disclosure to be more effective.

[0183] The disclosure may provide an engine control device and a method that are capable of reducing the torque required for the engine when controlling the friction of the steering device and of optimizing the engine size.

[0184] In particular, it is possible to reduce the control range of the friction enhancement control through friction tuning and friction control. Accordingly, the motor control device 100 can reduce the torque to be generated in the steering motor that is required for friction control. In general, the magnitude of a motor's torque is related to the size of the motor, so if the magnitude of the torque to be generated is reduced, a smaller motor can be used in the vehicle steering control.

[0185] Furthermore, since, according to the disclosure, the friction control is carried out with a relatively high system friction setting, the driver can be offered a higher degree of steering stability in the LOA (Loss-of-Assist) state, in which the vehicle steering assistance does not work.

[0186] The disclosure may also provide for an engine control device and method that enables more sophisticated friction control by monitoring the friction of the steering device.

[0187] The above description has been presented so that any person skilled in the art will be able to realize and utilize the technical idea of ​​the disclosure, and it has been provided under the assumption of a specific application and its requirements. Various modifications, additions, and substitutions to the described embodiments will be readily apparent to a person skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the idea and scope of the disclosure. The above description and the accompanying drawings provide an example of the technical idea of ​​the disclosure for purely illustrative purposes. That is to say, the disclosed embodiments are intended to illustrate the scope of the technical idea of ​​the disclosure.Thus, the scope of the disclosure is not limited to the embodiments shown, but refers to the broadest scope consistent with the claims. The scope of protection of the disclosure should be interpreted on the basis of the following claims, and all technical ideas within the scope of their equivalents should be considered to be included in the scope of the disclosure.

Claims

[1] Motor control device (100), comprising: a computer (110) that calculates friction control information for controlling the friction of a steering device based on vehicle condition information, which includes information about the condition of a vehicle and preset system friction information; and a control unit (120) that either performs friction reduction control to decrease the friction of the steering device or friction increase control to increase the friction of the steering device, based on the friction control information, where the vehicle status information includes information about the vehicle's steering torque. [2] Motor control device (100) according to claim 1, characterized by, that the computer (110) calculates friction torque information regarding the friction torque required for the steering device based on vehicle condition information and preset table information, and calculates the friction control information based on the friction torque information and the system friction information, and wherein the control unit (120) controls a steering motor (240) to generate the friction torque in the steering device in order to perform either friction reduction control or friction enhancement control. [3] Motor control device (100) according to claim 1 or 2, characterized by, that the vehicle state information further includes vehicle speed information about the vehicle, and wherein the computer (110) calculates the friction control information based on a result of comparing the vehicle speed information with a preset stop reference speed. [4] Motor control device (100) according to claim 3, characterized by, that the control unit (120) controls the steering motor (240) to generate a torque in the same direction as the steering torque information to perform friction reduction control when the vehicle speed information is determined to be as high as or higher than the stop reference speed, and controls the steering motor (240) to generate a torque in a direction opposite to the steering torque information to perform friction increase control when the vehicle speed information is determined to be lower than the stop reference speed. [5] Motor control device (100) according to any one of the preceding claims, characterized by, that the vehicle condition information further includes steering angle information about the vehicle, and wherein the control unit (120) controls the steering motor (240) to generate a torque in a direction opposite to the steering torque information in order to perform friction enhancement control when the steering angle information is determined to be a preset limit steering angle or more. [6] Motor control device (100) according to any one of the preceding claims, characterized by, that the friction control information includes friction measurement control information to control the measurement of the steering device friction, and wherein the control unit (120) performs friction measurement control with respect to the steering device based on the friction measurement control information when a preset friction measurement condition is met, and performs either friction reduction control or friction increase control based on a friction measurement result and / or the system friction information. [7] Motor control device (100) according to claim 6, characterized by, that the vehicle state information further includes shift state information and / or vehicle speed information about the vehicle and / or steering torque information, and wherein the friction measurement condition includes at least one state in which the shift state information is determined to be a park state or a neutral state, a state in which the vehicle speed information is determined to be less than a preset stop reference speed, or a state in which the steering torque information is determined to be less than a preset stop reference torque. [8] Motor control device (100) according to claim 6 or 7, characterized by, that the computer (110) calculates a friction difference value by comparing the friction measurement result and the system friction information, and, if the friction difference value is a preset correction reference value or more, corrects the system friction information based on the friction measurement result. [9] Engine control procedures, comprehensive: a friction calculation step (S910) that calculates friction control information for controlling the friction of a steering device based on vehicle state information, which includes information about a vehicle's condition and preset system friction information; and a friction control step (S920) which, based on the friction control information, either performs a friction reduction control to reduce the friction of the steering device or a friction increase control to increase the friction of the steering device, where the vehicle status information includes information about the vehicle's steering torque. [10] Motor control method according to claim 9, characterized by , that the friction calculation step (S910) calculates friction torque information regarding the friction torque required for the steering device based on vehicle condition information and preset table information, and calculates the friction control information based on the friction torque information and the system friction information, and wherein the friction control step (S920) controls a steering motor to generate the friction torque in the steering device in order to perform either friction reduction control or friction enhancement control. [11] Motor control method according to claim 9 or 10, characterized by, that the vehicle condition information further includes vehicle speed information about the vehicle, and wherein the friction calculation step (S910) calculates the friction control information based on a result of comparing the vehicle speed information with a preset stop reference speed. [12] Motor control method according to claim 11, characterized by, that the friction control step (S920) controls the steering motor to generate a torque in the same direction as the steering torque information to perform friction reduction control when the vehicle speed information is determined to be as high as or higher than the stop reference speed, and controls the steering motor to generate a torque in a direction opposite to the steering torque information to perform friction enhancement control when the vehicle speed information is determined to be lower than the stop reference speed. [13] Motor control method according to any one of claims 9 to 12, characterized by, that the friction control information includes friction measurement control information to control the measurement of the steering device friction, and wherein the friction control step (S920) performs friction measurement control with respect to the steering device based on the friction measurement control information when a preset friction measurement condition is met, and performs either friction reduction control or friction increase control based on a friction measurement result and / or the system friction information.

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