Steering assistance device and steering assistance method, and steering system

Abstract

Embodiments of the present disclosure relate to a steering assist device and a steering assist method, and a steering system. The steering assist device includes an input-side steering control module that controls an input-side steering actuator to assist an input-side mechanism connected to a steering wheel, and an output-side steering control module that controls an output-side steering actuator to assist an output-side mechanism that is mechanically separated from the input-side mechanism and connected to a wheel. The output-side steering control module can control an output-side steering motor included in the output-side steering actuator based on a position sensing value of the output-side mechanism received from a corresponding sensor and a position sensing value of the output-side steering motor.

Description

Technical Field

[0001] Embodiments of this disclosure relate to a steering assist device and steering assist method, as well as a steering system. Background Technology

[0002] Generally speaking, a steering system refers to a system in which the driver of a vehicle can change the steering angle of the vehicle's wheels based on the steering force (or rotational force) applied to the steering wheel. Electric power steering systems (e.g., electric power steering gears (EPS)) have recently been applied to vehicles to ensure stable steering by reducing the steering force required to the steering wheel.

[0003] In recent vehicle steering systems, the requirements for reliability and redundancy are becoming increasingly stringent. Summary of the Invention

[0004] These implementations can provide a steering assist device that can enhance redundancy and improve reliability.

[0005] In addition, these implementations can provide a steering system that can enhance redundancy and improve reliability.

[0006] In addition, these implementations can provide a steering assistance method that can enhance redundancy and improve reliability.

[0007] According to one embodiment, a steering assist device can be provided, the steering assist device comprising: an input-side steering control module that controls an input-side steering actuator to assist an input-side mechanism connected to a steering wheel; and an output-side steering control module that controls an output-side steering actuator to assist an output-side mechanism mechanically separated from the input-side mechanism and connected to a wheel, wherein the output-side steering control module checks whether each of the position sensing values ​​of the output-side mechanism received from corresponding sensors and the position sensing values ​​of the output-side steering motor included in the output-side steering actuator is normal, compares the normal position sensing values ​​of the output-side mechanism with the normal position sensing values ​​of the output-side steering motor to verify the validity of these normal position sensing values, and controls the output-side steering motor based on a target position value of the output-side mechanism received from the input-side steering control module and a valid normal position sensing value among the normal position sensing values ​​of the output-side mechanism and the normal position sensing values ​​of the output-side steering motor.

[0008] According to one embodiment, a steering system can be provided, the steering system comprising: a steering device including an input-side mechanism connected to a steering wheel and an output-side mechanism mechanically separated from the input-side mechanism and connected to a wheel; and a steering assist device including an input-side steering control module for controlling an input-side steering actuator to assist the input-side mechanism and an output-side steering control module for controlling an output-side steering actuator to assist the output-side mechanism, wherein the output-side steering control module checks whether each of a position sensing value of the output-side mechanism received from a corresponding sensor and a position sensing value of an output-side steering motor included in the output-side steering actuator is normal, compares the normal position sensing value of the output-side mechanism with the normal position sensing value of the output-side steering motor to verify the validity of these normal position sensing values, and controls the output-side steering motor based on a target position value of the output-side mechanism received from the input-side steering control module and a valid normal position sensing value among the normal position sensing values ​​of the output-side mechanism and the normal position sensing values ​​of the output-side steering motor.

[0009] According to one embodiment, a steering assist method can be provided, the steering assist method being executed by an output-side steering control module, the output-side steering control module controlling an output-side steering actuator including an output-side steering motor to assist an output-side mechanism mechanically separated from an input-side mechanism connected to a steering wheel and connected to a wheel, the steering assist method comprising the steps of: receiving a target position value of the output-side mechanism; receiving position sensing values ​​of the output-side mechanism and position sensing values ​​of the output-side steering motor included in the output-side steering actuator from corresponding sensors; checking whether each of the position sensing values ​​of the output-side mechanism and the position sensing values ​​of the output-side steering motor is normal, comparing the normal position sensing values ​​of the output-side mechanism and the normal position sensing values ​​of the output-side steering motor to verify the validity of these normal position sensing values, and controlling the output-side steering motor based on the target position value of the output-side mechanism and one of the verified valid normal position sensing values ​​of the output-side mechanism and the normal position sensing values ​​of the output-side steering motor.

[0010] According to these embodiments, it is possible to provide a steering assist device that can enhance redundancy and improve reliability.

[0011] According to these embodiments, it is possible to provide a steering system that can enhance redundancy and improve reliability.

[0012] Based on these implementations, a steering assistance method that can enhance redundancy and improve reliability can be provided. Attached Figure Description

[0013] The above and other objects, features and advantages of this disclosure will become clearer from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0014] Figure 1 This is a block diagram illustrating the configuration of a steering system according to one embodiment;

[0015] Figure 2 This is a block diagram illustrating the configuration of a steering control module according to one embodiment;

[0016] Figure 3 This is a view showing a steering device according to one embodiment;

[0017] Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 and Figure 9 This is a view showing the output-side mechanism according to one embodiment;

[0018] Figure 10 This is a block diagram illustrating the configuration of a steering assist device according to one embodiment;

[0019] Figure 11 and Figure 12 This is a view illustrating a steering assistance method according to one embodiment;

[0020] Figure 13 This is a flowchart illustrating a steering assistance method according to one embodiment; and

[0021] Figure 14 This is a block diagram illustrating the configuration of a computer system for a steering control device, a steering assist device, and a steering system according to one embodiment. Detailed Implementation

[0022] In the following description of embodiments or implementations of this disclosure, reference will be made to the accompanying drawings, which illustrate specific embodiments or implementations that may be practiced. The same reference numerals and symbols may be used to designate the same or similar components, even if these components are shown in different drawings. Furthermore, in the following description of embodiments or implementations of this disclosure, detailed descriptions of well-known functions and components incorporated herein will be omitted where it is determined that such detailed descriptions would make the subject matter of some embodiments of this disclosure considerably unclear. Terms such as “comprising,” “having,” “including,” “constituting,” “made of,” and “formed by” as used herein should generally allow for the addition of additional components unless these terms are used in conjunction with the term “only.” As used herein, the singular form should include the plural form unless the context clearly indicates otherwise.

[0023] Terms such as “first,” “second,” “A,” “B,” “(A),” or “(B)” may be used herein to describe elements of this disclosure. Each of these terms is not used to define the nature, order, sequence, or number of elements, but only to distinguish the corresponding element from other elements.

[0024] When referring to the first element and the second element as "connected or joined," "in contact or overlapping," etc., it should be interpreted as meaning that not only can the first element be "directly connected or joined" or "directly in contact or overlapping" with the second element, but a third element can also be "inserted" between the first element and the second element, or the first element and the second element can be "connected or joined," "in contact or overlapping," etc., via a fourth element. Here, the second element can include at least one of two or more elements that are "connected or joined," "in contact or overlapping," etc., that are mutually "connected or joined," "in contact or overlapping," etc.

[0025] When time-relative terms such as “after,” “following,” “next,” or “before” are used to describe a process or operation of an element or configuration, or a flow or step of an operation, processing, or manufacturing method, these terms may be used to describe a discontinuous or non-time-dependent process or operation, unless the terms “direct” or “immediate” are used simultaneously.

[0026] Furthermore, when referring to any size, relative size, etc., the numerical or corresponding information of the component or feature (e.g., level, range, etc.) should be taken into account, including tolerances or error ranges, which may be caused by various factors (e.g., process factors, internal or external influences, noise, etc.) even if no relevant description is specified. In addition, the term "may" fully encompasses all the meanings of the term "able to".

[0027] Figure 1 This is a block diagram illustrating the configuration of a steering system according to one embodiment.

[0028] refer to Figure 1 According to one embodiment, the steering system 1 may include at least one of a steering device 100 and a steering assist device 200. The steering device 100 and the steering assist device 200 may be connected by at least one of electrical, magnetic, and mechanical connections. The steering device 100 may change the steering angle of the wheels 150 based on the steering force (or rotational force) applied to the steering wheel 140. The steering device 100 may include at least one of an input-side mechanism 110, an output-side mechanism 120, and a disconnect / connect mechanism 130.

[0029] One or more input-side mechanisms 110 may be provided. Input-side mechanisms 110 may be connected to steering wheel 140. Input-side mechanisms 110 may rotate in the direction of rotation of steering wheel 140 or in a direction opposite to the direction of rotation of steering wheel 140. Input-side mechanisms 110 may include a steering shaft connected to steering wheel 140, but are not limited thereto, and may include any mechanism (or device) rotatable in the direction of rotation of steering wheel or in a direction opposite to the direction of rotation of steering wheel.

[0030] One or more output-side mechanisms 120 may be provided. The output-side mechanism 120 may be connected to the input-side device 110 via at least one of electrical and mechanical connections. The output-side mechanism 120 may be connected to the wheel 150 to change the steering angle (or movement) of the wheel 150. The output-side mechanism 120 may include at least one of a pinion, rack, tie rod, and steering knuckle arm, but is not limited thereto, and may include any mechanism (or device) capable of changing the steering angle (or movement) of the wheel.

[0031] One or more disconnect / connect mechanisms 130 may be provided. The disconnect / connect mechanism 130 may be connected to the input-side mechanism 110 and the output-side mechanism 120. The disconnect / connect mechanism 130 may mechanically and / or electrically connect and / or disconnect the input-side mechanism 110 and the output-side mechanism 120. The disconnect / connect mechanism 130 may include a clutch, but is not limiting, and may include any mechanism (or device) capable of connecting and / or disconnecting the input-side mechanism and the output-side mechanism.

[0032] According to one embodiment, the steering device 100 may include at least one of the following: a steering device in which the input-side mechanism and the output-side mechanism are mechanically connected; a steering device (or a steering steer-by-wire (SbW)) in which the input-side mechanism and the output-side mechanism are electrically connected; and a steering device (or an SbW including a clutch) in which the input-side mechanism and the output-side mechanism are connected by a disengagement / connection mechanism.

[0033] One or more steering wheels 140 or one or more wheels 150 may be provided. Steering wheels 140 and wheels 150 may be provided separately as shown, but are not limited to, and may be included in steering unit 100.

[0034] The steering assist device 200 can be connected to the steering device 100. The steering assist device 200 can provide auxiliary steering force to the steering device 100.

[0035] According to one embodiment, the steering assist device 200 may include at least one of an input power supply 210, a steering control module 220, a steering actuator 230, and a sensor module 240.

[0036] One or more input power sources 210 may be provided. The input power source 210 may include at least one of direct current (DC) power and alternating current (AC) power. In particular, the DC power source may include a battery, but is not limited thereto, and may include any power source that can provide DC power.

[0037] Sensor module 240 may include at least one sensor. In this document, the sensor may include at least one of steering torque sensor 241, steering angle sensor 242, and position sensor 243, but is not limiting; it may include any sensor capable of measuring vehicle state and vehicle steering state.

[0038] One or more steering torque sensors 241 may be provided. The steering torque sensor 241 measures the steering torque of the steering wheel to obtain steering torque information and provides this information to the steering control module 220. One or more steering angle sensors 242 may be provided. The steering angle sensor 242 measures the steering angle of the steering wheel to obtain steering angle information and provides this information to the steering control module 220. One or more position sensors 243 may be provided. The position sensor 243 measures at least one of the positions of the input-side mechanism, the output-side mechanism, and the steering motor, thereby obtaining position information of at least one of the input-side mechanism, the output-side mechanism, and the steering motor, and can provide this information to the steering control module 220.

[0039] The steering torque sensor 241, steering angle sensor 242, and position sensor 243 may be included in the sensor module shown, but are not limited thereto, and may be included in at least one of the input-side mechanism 110, output-side mechanism 120, disconnect / connect mechanism 130, steering wheel 140, wheel 150, input power supply 210, steering control module 220, and steering actuator 230 (steering motor 231 or reducer 232).

[0040] One or more steering control modules 220 may be provided. The steering control module 220 may be connected to the input power supply 210. The steering control module 220 may receive electrical energy from the input power supply 210 and filter out electrical noise.

[0041] The steering control module 220 can generate steering motor control signals based on information received from each component of the steering system 1 and / or the vehicle (e.g., at least one of steering torque information, steering angle information, position information, and vehicle speed information).

[0042] The steering control module 220 can convert and filter electrical energy according to the steering motor control signal to generate an auxiliary steering force and control the steering actuator 230 (or steering motor 231) based on the auxiliary steering force.

[0043] One or more steering actuators 230 may be provided. The steering actuators 230 may be connected to the steering control module 220. The steering actuators 230 may operate based on the auxiliary steering force provided from the steering control module 220, assisting the steering device 100 during steering.

[0044] The steering actuator 230 may include at least one of a steering motor 231 and a reducer 232. One or more steering motors 231 or one or more reducers 232 may be provided. At least one of the steering motors 231 and reducers 232 may be connected to the steering control module 220.

[0045] If the steering actuator 230 includes a steering motor 231, the steering motor 231 can operate based on the auxiliary steering force provided from the steering control module 220 to assist the steering device 100 during steering.

[0046] If the steering actuator 230 includes a steering motor 231 and a reducer 232, the steering motor 231 can operate based on the auxiliary steering force provided from the steering control module 220, and the reducer 232 can operate according to the operation of the steering motor 231, thereby assisting the steering device 100 during steering.

[0047] The steering motor 231 may include at least one of a single-winding steering motor and a dual-winding steering motor, but is not limited to, it may include any motor that can assist the steering device during steering.

[0048] The steering motor 231 may include at least one of a three-phase motor and a five-phase motor, but is not limited thereto, and may include any motor that may assist the steering device during steering.

[0049] Steering motor 231 may include at least one of a DC motor and an AC motor (e.g., a synchronous motor and / or an induction motor), but is not limited thereto, and may include any motor that may assist the steering mechanism during steering.

[0050] Figure 2 This is a block diagram illustrating the configuration of a steering control module according to one embodiment.

[0051] refer to Figure 2 According to one embodiment, the steering control module 220 may include at least one of a filter unit 10, a steering motor power source unit 20, a sensor unit 30, a communication unit 40, a controller unit 50, a controller monitoring unit 60, an operation power conversion unit 70, and a power path controller 80.

[0052] One or more filter units 10 may be provided. Filter units 10 may be connected to an input power supply. Filter units 10 may filter noise from the electrical energy supplied from the input power supply and provide the filtered electrical energy to the steering motor power source unit 20 and the operating power conversion unit 70.

[0053] One or more steering motor power source units 20 may be provided. The steering motor power source unit 20 may be connected to the filter unit 10 and may receive filtered electrical energy from the filter unit 10. The steering motor power source unit 20 may be connected to the controller unit 50 and may receive steering motor control signals from the controller unit 50. The steering motor power source unit 20 may generate auxiliary steering force by converting filtered electrical energy based on the steering motor control signals, and control the steering motor based on the auxiliary steering force.

[0054] The steering motor power source unit 20 may include at least one of a switching element driver 21 and an inverter 22. One or more switching element drivers 21 or one or more inverters 22 may be provided.

[0055] The switching element driver 21 can receive the steering motor control signal from the controller unit 50, generate a switching element control signal based on the steering motor control signal, and provide the switching element control signal to the inverter 22. The inverter 22 can convert the filtered electrical energy of the filter unit according to the switching element control signal, thereby generating auxiliary steering force.

[0056] Inverter 22 may include switches and / or transistors, but is not limited to, any element (or device) that can generate auxiliary steering force by converting electrical energy according to steering motor control signals and / or switch element control signals.

[0057] If inverter 22 includes field-effect transistors (FETs), then switching element driver 21 can be a gate driver. Therefore, the gate driver can receive steering motor control signals from controller unit 50, generate gate control signals based on the steering motor control signals, and provide the gate control signals to inverter 22. Inverter 22 can then convert the filtered electrical energy of the filter unit according to the gate control signals to generate auxiliary steering force.

[0058] One or more power path controllers 80 may be provided. The power path controller 80 may be located between the steering motor power source unit 20 (or inverter 22) and the steering actuator 230 (or steering motor 231) to supply or cut off the supply of auxiliary steering force received from the steering motor power source unit 20 (or inverter) to the steering actuator 230 (or steering motor 231).

[0059] The power path controller 80 may include at least one phase cut-off device (PCO). A phase cut-off device is an element or circuit capable of cutting off a phase and may include at least one of a switch, circuit breaker, disconnect switch, and transistor, but is not limited thereto, and may include any element and / or circuit capable of cutting off a phase.

[0060] Sensor unit 30 may include at least one of temperature sensor 31, current sensor 32, and motor position sensor 33, but is not limited thereto, and may include any sensor capable of measuring the state of the steering system (or steering control module). One or more temperature sensors 31, one or more current sensors 32, or one or more motor position sensors 33 may be provided.

[0061] Temperature sensor 31 measures the temperature of steering control module 220 to obtain temperature information and provides this information to controller unit 50. Current sensor 32 measures the auxiliary current (or auxiliary steering force) supplied from steering motor power source unit 20 to steering actuator 230 (or steering motor 231) to obtain auxiliary current information and provides this information to controller unit 350. Motor position sensor 33 measures the position of steering motor to obtain steering motor position information and provides this information to controller unit 50. Motor position sensor 33 may be included in steering control module 220, but is not a limitation; it may be provided independently.

[0062] One or more communication units 40 may be provided. Each communication unit 40 may include at least one of an internal communication unit and an external communication unit. When multiple steering control modules are present, the internal communication unit may connect to other steering control modules to receive or provide information. The external communication unit may connect to the vehicle to receive vehicle status information (e.g., vehicle speed information) or to provide the vehicle with information related to the steering system.

[0063] One or more controller units 50 may be provided. Controller units 50 may be connected to each component of the steering control module 220 to provide or receive information and control the operation of each component of the steering control module 220 based on this information.

[0064] For example, the controller unit 50 can generate a steering motor control signal based on steering torque information, steering angle information, temperature information, auxiliary current information, position information (position information of the input side mechanism, position information of the output side mechanism, and position information of the steering motor), vehicle status information (e.g., vehicle speed information), input power supply status information, short circuit (or overcurrent) status information, current sensing information of the filter unit, or steering motor status information, and provide the steering motor control signal to the steering motor power source unit 20 (or switching element driver 21), or it can generate a disconnect / connection control signal (e.g., a clutch control signal) and provide the disconnect / connection control signal to the disconnect / connection mechanism.

[0065] The controller unit 50 may include a microcontroller, but is not limited to it, and may include any device (or computer) capable of processing (or executing or calculating) programs.

[0066] The controller monitoring unit 60 can be connected to the controller unit 50. The controller monitoring unit 60 can monitor the operating status of the controller unit 50. For example, the controller unit 50 can provide monitoring signals to the controller monitoring unit 60. The controller monitoring unit 60 can be reset based on the monitoring signals received from the controller unit 50, or it can generate a reset signal and provide the reset signal to the controller unit 50.

[0067] The controller monitoring unit 60 may include, but is not limited to, a monitor, and may include any device capable of monitoring the controller unit. In particular, the monitor may include a window monitor with a time limit (i.e., a start and an end).

[0068] The operating power conversion unit 70 may be connected to the filter unit 10. The operating power conversion unit 70 can generate operating voltages for each component of the steering control module 220 by converting filtered electrical energy received from the filter unit 10. The operating power conversion unit 70 may include at least one of a DC-DC converter and a regulator, but is not limited thereto, and may include any means capable of converting filtered electrical energy to generate operating voltages for each component of the steering control module and / or external to the steering control module.

[0069] The steering control module 220 may include an electronic control unit (ECU), but is not limited to it, and may include any controller (or system) that can be electronically controlled.

[0070] In the following description, for the sake of simplicity, steering device 100 is a steer-by-wire (SbW) system, and steering control module 220 includes an input-side steering control module and an output-side steering control module. However (and not limitingly), the following description is applicable to any configuration that may assist steering device 100 via steering control module 220.

[0071] Figure 3 This is a view showing a steering device according to one embodiment.

[0072] refer to Figure 3 According to one embodiment, the steering device 100 may include: an input-side mechanism 110 connected to a steering wheel 140; and an output-side mechanism 120 mechanically separated from the input-side mechanism 110 and connected to a wheel 150. In other words, according to one embodiment, the steering device 100 may be a steer-by-wire (SbW) system.

[0073] The input-side mechanism 110 is rotatable in the direction of rotation of the steering wheel 140 or in the opposite direction, and may include, for example, a steering shaft connected to the steering wheel 140. The output-side mechanism 120, mechanically separate from and electrically connected to the input-side mechanism 110, may be connected to the wheel 150 to change the wheel's steering angle (or movement). The input-side mechanism 110 may include at least one of a pinion, rack, tie rod, and steering knuckle arm.

[0074] Figures 4 to 9 This is a view showing the output-side mechanism according to one embodiment.

[0075] refer to Figure 4 According to one embodiment, the output-side mechanism 120 may include at least one of a sliding rod 122 and an anti-rotation member 123.

[0076] The sliding rod 122 can be configured to slide axially within the housing 121. The anti-rotation member 123 can be hollow and can be circumferentially supported by the sliding rod 122 and connected to the inner circumferential surface of the housing 121.

[0077] The sliding rod 122 can be a mechanism (or component) used as a rack (with the pinion removed) in a pinion and a gear. Therefore, the output-side mechanism can include the sliding rod 122, which functions as a rack (with the pinion removed).

[0078] The output-side steering actuator 230 (e.g., output-side steering motor 231-2 or output-side reducer 232-2) can be connected to the slide bar 122.

[0079] In other words, the output-side steering actuator 230 (e.g., output-side steering motor 231-2 or output-side reducer 232-2) can be connected to the sliding rod 122. The rotational force of the output-side steering actuator 230 (e.g., output-side steering motor 231-2 and / or output-side reducer 232-2) can be transmitted to the sliding rod 122 to cause the sliding rod 122 to slide axially. The tie rod and steering knuckle arm are connected to the sliding rod 122 so that the wheels can be steered when the sliding rod 122 slides axially within the housing 121.

[0080] In this configuration, to allow the sliding rod 122 to slide axially using the rotational force of the output-side steering actuator 230 (e.g., output-side steering motor 231-2 and / or output-side reducer 232-2), it is necessary to prevent the sliding rod 122 from rotating about its central axis. Therefore, the output-side mechanism according to one embodiment may include a hollow anti-rotation member 123 connected to the inner circumferential surface of the housing 121 and circumferentially supported by the sliding rod 122.

[0081] Traditional steer-by-wire systems prevent the sliding rod from rotating by employing a pinion shaft typical of steering systems and engaging it with a rack and pinion formed on the sliding rod, thus providing high compatibility with production and assembly lines for general steering systems. However, such a structure requires machining the rack and pinion on the sliding rod and additional parts (e.g., support yoke) as well as the pinion shaft, resulting in an increased number of parts and a more complex assembly process.

[0082] In other words, compared to conventional steer-by-wire devices with a pinion shaft and support yoke on the right side, the steer-by-wire device according to one embodiment eliminates the need for machining rack and pinion gears or providing a pinion shaft and support yoke by using an anti-rotation member to prevent the sliding rod from rotating, thus saving parts. Furthermore, according to one embodiment, the anti-rotation member can be axially assembled, which simplifies the assembly process and significantly reduces costs.

[0083] refer to Figures 5 to 8 According to one embodiment, the anti-rotation member 123 may include: a support member 123-2, which is connected to the inner circumferential surface of the housing 121; and a bushing member 123-1, which is connected to the support member 123-2 and circumferentially supported on the sliding rod 122.

[0084] The support member 123-2 is axially inserted into the housing 121. For example, the support member 123-2 is screwed onto the housing 121 and supported by a noise damper or retaining ring, thus preventing loosening.

[0085] A first flat portion 122-1 is formed on the outer peripheral surface of the sliding rod 122, and a second flat portion 123-11 supported on the first flat portion 122-1 is formed on the inner peripheral surface of the bushing member 123-1, so that the bushing member 123-1 can be circumferentially supported by the sliding rod 122, and the sliding rod 122 can therefore slide axially without rotating.

[0086] The bushing member 123-1 is circumferentially fixed to the support member 123-2 or the housing 121, as will be described below in conjunction with the embodiments.

[0087] refer to Figure 5 The bushing member 123-1 may have an insertion portion 123-12 protruding from its outer peripheral surface, and the support member 123-2 may have an insertion groove 123-21 formed in its inner peripheral surface, into which the insertion portion 123-12 is fitted.

[0088] Since the insertion portion 123-12 is assembled into the insertion slot 123-21, the bushing member 123-1 is circumferentially fixed, and thus the first flat portion 122-1 and the second flat portion 123-11 are supported, thereby preventing the sliding rod 122 from rotating.

[0089] refer to Figure 6 A third flat portion 123-13 may be formed on the outer peripheral surface of the bushing member 123-1, and a fourth flat portion 123-22 supported by the third flat portion 123-13 may be formed on the inner peripheral surface of the support member 123-2.

[0090] In other words, just as the first flat portion 122-1 and the second flat portion 123-11 support each other and the sliding rod 122 is circumferentially supported by the bushing member 123-1, the third flat portion 123-13 and the fourth flat portion 123-22 support each other, and the bushing member 123-1 is circumferentially supported by the support member 123-2.

[0091] The inner circumferential surface of the support member 123-2 can be stepped, so that the first side of the bushing member 123-1 can be axially supported, and the connecting member 123-3 supported by the second side of the bushing member 123-1 can be connected to the inner circumferential surface of the support member 123-2.

[0092] refer to Figure 7 A protrusion 123-14 may be formed on the outer peripheral surface of the bushing member 123-1, and a groove may be formed in the housing 121. The protrusion 123-14 is axially fitted into the groove, so that the bushing member 123-1 can be circumferentially fastened relative to the housing 121.

[0093] refer to Figure 8 The anti-rotation component 123 can be connected to the sliding rod 122 by means of saw teeth, thereby preventing the sliding rod 122 from rotating.

[0094] In other words, a first serration 122-2 is formed on the outer peripheral surface of the sliding rod 122, and a second serration 123-4 is formed on the inner peripheral surface of the anti-rotation member 123, with the second serration 123-4 engaging with the first serration 122-2. The sliding rod 122 slides axially while being prevented from circumferential rotation by the first serration 122-2 and the second serration 123-4.

[0095] refer to Figure 9 Magnet 124 can be positioned on sliding rod 122. Multiple magnets 124 can be provided, not just one.

[0096] The output-side linear position sensor 243-21 can be positioned on the housing 121. The output-side linear position sensor 243-21 can measure the position (or magnetic flux) of the magnet 124 to generate a position sensing value for the output-side mechanism 120 (or sliding rod 122). The output-side linear position sensor 243-21 can be provided separately, but is not limited to, and can be included in the steering control module 220.

[0097] Figure 10 This is a block diagram illustrating the configuration of a steering assist device according to one embodiment.

[0098] refer to Figure 10 According to one embodiment, the steering assist device may include at least one of a steering control module 220, a steering actuator 230, an output-side steering motor position sensor 243-1, and an output-side mechanism position sensor 243-2.

[0099] Multiple steering control modules 220 may be provided. The multiple steering control modules may include at least one input-side steering control module 221 and at least one output-side steering control module 222.

[0100] Multiple steering actuators 230 may be provided. The multiple steering actuators 230 may include at least one input-side steering actuator and at least one output-side steering actuator.

[0101] Specifically, the input-side steering actuator may include at least one of an input-side steering motor 231-1 and an input-side reducer 232-1. One or more input-side steering motors 231-1 or one or more input-side reducers 232-1 may be provided. The output-side steering actuator 230 may include at least one of an output-side steering motor 231-2 and an output-side reducer 232-2. One or more output-side steering motors 231-2 and one or more output-side reducers 232-2 may be provided.

[0102] Multiple output-side steering motor position sensors 243-1 or multiple output-side mechanism position sensors 243-2 can be provided. The output-side mechanism position sensors 243-2 may include, for example, an output-side linear position sensor 243-21.

[0103] refer to Figures 1 to 10 According to one embodiment, the steering system 1 may include at least one of a steering device 100 and a steering assist device 200.

[0104] According to one embodiment, the steering system 1 may include a steering device 100, which includes an input-side mechanism 110 connected to a steering wheel 140 and an output-side mechanism 120 connected to a wheel 150.

[0105] For example, according to one embodiment, the steering system 1 may include a steering device 100, which includes: an input-side mechanism 110 connected to a steering wheel 140; and an output-side mechanism 120 mechanically separated from the input-side mechanism 110 and connected to a wheel 150.

[0106] According to one embodiment, the steering system 1 may include: an input-side steering control module 221 that controls an input-side steering actuator 230 to assist an input-side mechanism 110 connected to a steering wheel 140; and an output-side steering control module 222 that controls an output-side steering actuator 230 to assist an output-side mechanism 120 connected to a wheel 150.

[0107] For example, according to one embodiment, the steering system 1 may include: an input-side steering control module 221 that controls an input-side steering actuator 230 to assist an input-side mechanism 110 connected to a steering wheel 140; and an output-side steering control module 222 that controls an output-side steering actuator 230 to assist an output-side mechanism 120 that is mechanically disengaged from the input-side mechanism 110 and connected to a wheel 150.

[0108] The output-side steering control module 220 can check whether each of the position sensing values ​​of the output-side mechanism received from the corresponding sensors and the position sensing values ​​of the output-side steering motor included in the output-side steering actuator 230 is normal, compare the normal position sensing value of the output-side mechanism with the normal position sensing value of the output-side steering motor to verify the validity of the normal position sensing value, and control the output-side steering motor 231-2 based on the target position value of the output-side mechanism received from the input-side steering control module 221 and the verified valid normal position sensing value of the output-side mechanism and the normal position sensing value of the output-side steering motor.

[0109] According to one embodiment, the output-side steering control module 222 can select either the position sensing value of the output-side mechanism or the position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value. It checks whether each of the primary position sensing value and the redundant position sensing value is normal, compares the normal primary position sensing value and the normal redundant position sensing value to verify the validity of the normal primary position sensing value, and controls the output-side steering motor 231-2 based on the verified valid normal primary position sensing value and the target position value of the output-side mechanism.

[0110] If the verified normal master position sensing value becomes an abnormal value when controlling the output-side steering motor 231-2 based on the target position value of the output-side mechanism and the verified normal master position sensing value, the output-side steering control module 222 can control the output-side steering motor 231-2 based on the target position value of the output-side mechanism and the normal redundant position sensing value.

[0111] In another embodiment, the output-side steering control module 222 can check whether each of the position sensing values ​​of the output-side mechanism and the output-side steering motor is normal, compare the normal position sensing value of the output-side mechanism with the normal position sensing value of the output-side steering motor to verify the validity of the normal position sensing value, select the valid normal position sensing value of the output-side mechanism or the normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value, and control the output-side steering motor 231-2 based on the target position value of the output-side mechanism and the primary position sensing value.

[0112] If the normal master position sensing value becomes an abnormal value when the output-side steering motor 231-2 is controlled based on the target position value and the normal master position sensing value of the output-side mechanism, the output-side steering control module 222 can control the output-side steering motor 231-2 based on the target position value and the redundant position sensing value of the output-side mechanism.

[0113] In another embodiment, the output-side steering control module can check whether each of the position sensing values ​​of the output-side mechanism and the output-side steering motor is normal, select the normal position sensing value of the output-side mechanism or the normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value, compare the primary position sensing value and the redundant position sensing value to verify the validity of the primary position sensing value, and control the output-side steering motor 231-2 based on the target position value of the output-side mechanism and the verified valid primary position sensing value.

[0114] If the verified main position sensing value becomes an abnormal value when controlling the output-side steering motor 231-2 based on the target position value of the output-side mechanism and the verified valid main position sensing value, the output-side steering control module 222 can control the output-side steering motor 231-2 based on the target position value of the output-side mechanism and the redundant position sensing value.

[0115] The output-side steering control module 222 can control the output-side steering motor 231-2 by controlling one of the verified valid normal position sensing values ​​of the output-side mechanism and the output-side steering motor to follow the target position value of the output-side mechanism.

[0116] For example, the output-side steering control module 222 can calculate the error position value between the target position value of the output-side mechanism and a verified valid normal position sensing value among the normal position sensing values ​​of the output-side mechanism and the normal position sensing values ​​of the output-side steering motor. By controlling the error position value with a preset position control algorithm, the output-side steering motor reference torque value is generated, and the output-side steering motor 231-2 is controlled by controlling the output-side steering motor reference torque value with a preset motor control algorithm.

[0117] The above embodiments will now be described in detail. Therefore, the following detailed description can be applied to the above embodiments. For example, if the target position value of the output-side mechanism, the sensing value of the output-side mechanism position sensor, and the position sensing value of the output-side mechanism described above are replaced, the foregoing description applies to the target position value of the slide rod, the sensing value of the output-side linear position sensor, and the linear position sensing value of the slide rod described below.

[0118] refer to Figures 1 to 10 According to one embodiment, the output-side mechanism 120 may include a sliding rod 122 connected to the wheel 150 and axially sliding within the housing 121. The output-side mechanism 120 may also include a hollow anti-rotation member 123 circumferentially supported by the sliding rod 122 and connected to the inner circumferential surface of the housing 121. The output-side mechanism 120 may also include a magnet positioned on the sliding rod 122.

[0119] According to one embodiment, the steering assist device 200 may further include: an output-side linear position sensor 243-21 that provides a linear position sensing value for the sliding rod; and an output-side steering motor position sensor 243-1 that provides a position sensing value for the output steering motor.

[0120] The output-side linear position sensor 243-21 can provide a linear position sensing value of the sliding rod that slides axially while being prevented from rotating by the anti-rotation member 123.

[0121] The output-side steering control module 222 can check whether each of the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor is normal, compare the normal linear position sensing value of the sliding rod with the normal position sensing value of the output-side steering motor to verify the validity of the normal position sensing value, and control the output-side steering motor 231-2 based on the verified valid normal position sensing value of the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor, as well as the target position sensing value of the sliding rod received from the input-side steering control module 221.

[0122] Specifically, the output-side steering control module 222 can be connected to the input-side steering control module 221 and receive the target position value of the sliding rod from the input-side steering control module 221. The input-side steering control module 221 can generate the target position value of the sliding rod using at least one of steering torque information, steering angle information, and vehicle speed information.

[0123] The output-side steering control module 222 can be connected to the output-side linear position sensor 243-21 and can receive the linear position sensing value of the sliding rod from the output-side linear position sensor 243-21. The output-side steering control module 222 can be connected to the output-side steering motor position sensor 243-1 and can receive the position sensing value of the output-side steering motor 231-2 from the output-side steering motor position sensor 243-1.

[0124] The output-side steering control module 222 can check whether each of the linear position sensing value of the slider and the position sensing value of the output-side steering motor is normal.

[0125] For example, the output-side steering control module 222 can compare the linear position sensing values ​​of the sliding rod and the output-side steering motor with their respective preset normal ranges. As a result of the comparison, if the linear position sensing values ​​of the sliding rod and the output-side steering motor fall within the preset normal ranges, the output-side steering control module 222 can determine that the linear position sensing values ​​of the sliding rod and the output-side steering motor are normal linear position sensing values ​​for the sliding rod and normal position sensing values ​​for the output-side steering motor. As a result of the comparison, if the linear position sensing values ​​of the sliding rod and the output-side steering motor are outside the preset normal ranges, the output-side steering control module 222 can determine that the linear position sensing values ​​of the sliding rod and the output-side steering motor are abnormal linear position sensing values ​​for the sliding rod and abnormal position sensing values ​​for the output-side steering motor.

[0126] The output-side steering control module 222 can verify the validity of the normal position sensing value by comparing the normal linear position sensing value of the sliding rod with the normal position sensing value of the output-side steering motor.

[0127] For example, the output-side steering control module 222 can identify the difference between the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor. As a result of the comparison, if the difference between the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor falls within a preset validity range, the output-side steering control module 222 can determine that the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor are valid. As a result of the comparison, if the difference between the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor is outside the preset validity range, the output-side steering control module 222 can determine that the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor are not valid.

[0128] The output-side steering control module 222 can control the output-side steering motor 231-2 based on a verified valid normal position sensing value among the target position value of the sliding rod received from the input-side steering control module 221, the normal linear position sensing value of the sliding rod, and the normal position sensing value of the output-side steering motor.

[0129] As an example, the output-side steering control module 222 can control the output-side steering motor 231-2 based on the target position value of the sliding rod and the verified valid normal linear position sensing value of the sliding rod.

[0130] As another embodiment, the output-side steering control module 222 can control the output-side steering motor 231-2 based on the target position value of the sliding rod and the verified valid normal position sensing value of the output-side steering motor.

[0131] The output-side steering control module 222 can control the output-side steering motor 231-2 by controlling one of the verified valid normal position sensing values ​​of the normal linear position sensing value of the slider and the normal position sensing value of the output-side steering motor to follow the target position value of the slider.

[0132] In other words, the output-side steering control module 222 can calculate the error position value between the target position value of the sliding rod and a verified valid normal position sensing value between the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor. It generates an output-side steering motor reference torque value by controlling this error position value using a preset position control algorithm, and controls the output-side steering motor 231-2 by controlling this output-side steering motor reference torque value using a preset motor control algorithm. The output-side steering control module 222 can control the output-side steering motor 231-2 by controlling the error torque value between the output-side steering motor reference torque value and a measured steering motor auxiliary torque value (e.g., a value obtained by multiplying the auxiliary current value measured by a current sensor by a torque constant) using a preset motor control algorithm.

[0133] The output-side steering control module 222 can perform a position control algorithm (or position controller) in a first control cycle and a motor control algorithm (or motor controller) in a second control cycle. The second control cycle can be shorter than the first control cycle. In other words, the control cycle of the motor control algorithm can be shorter than the control cycle of the position control algorithm. For example, if the first control cycle is 1 ms, the second control cycle can be 100 μs. However, this is only one embodiment, and various variations are possible.

[0134] Although the above descriptions are not repeated below for the sake of simplicity, the content described above also applies to the following text. For example, the methods described above for checking normality, verifying effectiveness, and controlling the output-side steering motor are equally applicable below.

[0135] According to one embodiment, the output-side steering control module 222 can select either the linear position sensing value of the sliding rod or the position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value. It checks whether each of the primary position sensing value and the redundant position sensing value is normal, compares the normal primary position sensing value and the normal redundant position sensing value to verify the validity of the normal primary position sensing value, and controls the output-side steering motor 231-2 based on the verified valid normal primary position sensing value and the target position value of the sliding rod.

[0136] If the verified normal master position sensing value becomes an abnormal value when controlling the output-side steering motor 231-2 based on the target position value of the sliding rod and the verified valid normal master position sensing value, the output-side steering control module 222 can control the output-side steering motor 231-2 based on the target position value of the sliding rod and the normal redundant position sensing value.

[0137] In another embodiment, the output-side steering control module 222 can check whether each of the linear position sensing value of the slider and the position sensing value of the output-side steering motor is normal, compare the normal linear position sensing value of the slider with the normal position sensing value of the output-side steering motor to verify the validity of the normal position sensing value, select the normal linear position sensing value of the slider or the normal position sensing value of the output-side steering motor that has been verified as valid as the primary position sensing value and the other as the redundant position sensing value, and control the output-side steering motor 231-2 based on the target position value of the slider and the primary position sensing value.

[0138] If the normal master position sensing value becomes an abnormal value when the output-side steering motor 231-2 is controlled based on the target position value of the sliding rod and the normal master position sensing value, the output-side steering control module 222 can control the output-side steering motor 231-2 based on the target position value of the sliding rod and the redundant position sensing value.

[0139] In another embodiment, the output-side steering control module can check whether each of the linear position sensing value of the slider and the position sensing value of the output-side steering motor is normal, select the normal linear position sensing value of the slider or the normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value, compare the primary position sensing value and the redundant position sensing value to verify the validity of the primary position sensing value, and control the output-side steering motor 231-2 based on the target position value of the slider and the verified valid primary position sensing value.

[0140] If the verified main position sensing value becomes an abnormal value when controlling the output-side steering motor 231-2 based on the target position value of the sliding rod and the verified valid main position sensing value, the output-side steering control module 222 can control the output-side steering motor 231-2 based on the target position value of the sliding rod and the redundant position sensing value.

[0141] Figure 11 and Figure 12 This is a view illustrating a steering assistance method according to one embodiment.

[0142] exist Figure 11 and Figure 12 In the text, ① can represent "main", while ② can represent "redundancy" or "sub".

[0143] refer to Figure 11 The output-side linear position sensor can be the primary position sensor, and the output-side steering motor position sensor can be a redundant position sensor.

[0144] The input-side steering control module can calculate the target position value of the sliding rod of the output-side mechanism based on vehicle state information (e.g., steering torque information, steering angle information, and / or vehicle information) and / or vehicle surrounding information. The sliding rod of the output-side mechanism can be a mechanism (or component) used as a rack without a pinion.

[0145] The output-side steering motor position sensor can measure the angle of the output-side steering motor to obtain the position sensing value of the output-side steering motor.② The output-side linear position sensor can measure the magnet positioned on the sliding rod to obtain the linear position sensing value of the sliding rod.①

[0146] The sensor value verifier can receive the position sensing value ② of the output-side steering motor from the output-side steering motor position sensor, and the linear position sensing value ① of the sliding rod from the output-side linear position sensor. The sensor value verifier can verify the sensor values ​​using the above-described normality and validity checks.

[0147] For example, the sensor value verifier can select the linear position sensing value ① of the slider as the primary position sensing value and the position sensing value ② of the output-side steering motor as the redundant position sensing value. The sensor value verifier can check whether each of the linear position sensing value ① of the slider and the position sensing value ② of the output-side steering motor is normal. If both the linear position sensing value ① of the slider and the position sensing value ② of the output-side steering motor are normal, the sensor value verifier can compare the normal linear position sensing value of the slider with the normal position sensing value of the steering motor to verify the validity of the linear position sensing value of the slider. Since the position sensing value of the steering motor can be the angle of the steering motor, a value that reflects the reduction rate of the reducer as the position sensing value of the steering motor can be used.

[0148] The position controller can receive the target position value of the slider from the input-side steering control module, and can receive the verified valid linear position sensing value of the slider from the sensor value verifier (①').

[0149] The position controller can be controlled by a position control algorithm to allow the verified valid linear position sensing value (①') of the slider to follow the target position value of the slider, and based on this, the reference torque value (or current value) of the output-side steering motor can be calculated.

[0150] Position control algorithms may include at least one of P (proportional) control, I (integral) control, and D (differential) control, but are not limited to, any algorithm capable of controlling position may be used.

[0151] The motor controller can receive the output-side steering motor reference torque value (or current value) from the position controller, the inverter output current value from the current sensor, and the verified valid position sensing value of the steering motor (②') from the sensor value verifier.

[0152] The motor controller can be configured via a motor control algorithm to allow the inverter's output current value to follow the output-side steering motor reference torque value (or current value), and based on this, the inverter can be controlled. Specifically, the motor controller can be configured based on the verified valid position sensing value (②') of the steering motor to allow the inverter's output current value to follow the output-side steering motor reference torque value (or current value).

[0153] The torque value can be a value that reflects the torque constant in the current value.

[0154] The motor control algorithm may include at least one of current control algorithm, vector control algorithm, and pulse width modulation (PWM) algorithm, but is not limited thereto, and may include any algorithm capable of controlling the motor. In particular, the current control algorithm may include at least one of P (proportional) control, I (integral) control, and D (differential) control, but is not limited thereto, and may use any algorithm capable of controlling the current.

[0155] The inverter can drive the output-side steering motor. The output-side steering motor can actuate a mechanically connected reducer.

[0156] The rotational force of the output-side reducer can be transmitted to cause the sliding rod to slide axially. As the sliding rod, which is connected to the tie rod and steering knuckle arm, slides axially within the housing, the wheels can be steered.

[0157] As described above, according to one embodiment, the steering assist device, steering assist method, and steering system can directly measure the position of the sliding rod (or rack without pinion) as the control target using a high-precision, high-resolution output-side linear position sensor, and control the steering based on the position sensing value of the sliding rod, thereby reducing the influence of mechanical backlash and thus improving steering control accuracy. Furthermore, by using the position sensing value of the output-side steering motor as a redundancy signal or to determine validity, the system's redundancy function can be enhanced and reliability improved.

[0158] refer to Figure 12 The output-side linear position sensor can be a redundant position sensor, and the output-side steering motor position sensor can be the primary position sensor.

[0159] and Figure 11 compared to, Figure 12 The only difference lies in the operation of the sensor value verifier. Therefore, the above-mentioned differences will not be repeated below. Figure 11 The relevant content only describes the sensor value verifier.

[0160] The sensor value verifier can select the linear position sensing value ② of the sliding rod as a redundant position sensing value and the position sensing value ① of the steering motor as a redundant position sensing value. The sensor value verifier can check whether each of the linear position sensing value ② of the sliding rod and the position sensing value ① of the steering motor is normal. If both the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor are normal, the sensor value verifier can compare the normal linear position sensing value of the sliding rod with the normal position sensing value of the steering motor to verify the validity of the steering motor's position sensing value. Since the position sensing value of the steering motor can be the angle of the steering motor, a value reflecting the reduction rate of the reducer as the position sensing value of the steering motor can be used.

[0161] The position controller can receive the target position value of the slider from the input-side steering control module, and can receive the verified valid linear position sensing value of the steering motor (①') from the sensor value verifier.

[0162] The position controller can be controlled by a position control algorithm to allow the verified valid linear position sensing value (①') of the steering motor to follow the target position value of the slider, and based on this, the reference torque value (or current value) of the output-side steering motor can be calculated.

[0163] As described above, according to one embodiment, the steering assist device, steering assist method, and steering system can estimate the position of the sliding rod (or a rack without pinions) and control the steering accordingly, thereby allowing high-performance control with excellent resolution and sampling rate. The position sensing value of the sliding rod can also be used as a redundancy signal or to determine validity, enhancing the system's redundancy and improving reliability.

[0164] The sensor value verifier, position controller, and motor controller may be included in controller unit 50 (e.g., the controller unit of the output-side steering control module), but are not limited thereto, and may be provided separately.

[0165] The steering assist method according to one embodiment is described below with reference to the accompanying drawings. According to one embodiment, the steering assist method can be performed using a steering device, a steering assist device, and a steering system. For simplicity, the above-mentioned aspects are not discussed further below. Figures 1 to 12 The description of the steering device, steering assist device, and steering system is repeated.

[0166] Figure 13 This is a flowchart illustrating a steering assistance method according to one embodiment.

[0167] refer to Figure 13 According to one embodiment, the steering assistance method may include: step S100 of receiving a target position value from an output-side mechanism; step S200 of receiving position sensing values ​​from various sensors; step S300 of controlling an output-side steering motor; and step S400 of controlling the output-side steering motor based on fail-safe conditions.

[0168] For example, according to one embodiment, a steering assistance method can be executed by an output-side steering control module that controls an output-side steering actuator including an output-side steering motor to assist an output-side mechanism that is mechanically separated from and connected to an input-side mechanism connected to a steering wheel and connected to the wheels.

[0169] First, the target position value of the output side mechanism can be received (S100).

[0170] Subsequently, position sensing values ​​of the output-side mechanism and the output-side steering motor included in the output-side steering actuator can be received from the corresponding sensors (S200).

[0171] For example, in step S200, the linear position sensing value of the sliding rod can be received from the output-side linear position sensor, the sliding rod being connected to the wheel and configured to slide axially within the housing.

[0172] In step S200, the linear position sensing value of the sliding rod, which is set to slide axially and is prevented from rotating by the anti-rotation member, can be received from the output-side linear position sensor.

[0173] In step S200, the position sensing value of the output-side steering motor can also be received from the output-side steering motor position sensor.

[0174] Then, it is possible to check whether each of the position sensing values ​​of the output-side mechanism and the position sensing values ​​of the output-side steering motor is normal, compare the normal position sensing value of the output-side mechanism with the normal position sensing value of the output-side steering motor to verify the validity of the normal position sensing value, and control the output-side steering motor based on the target position value of the output-side mechanism and the verified valid normal position sensing value of the output-side mechanism and the normal position sensing value of the output-side steering motor (S300).

[0175] For example, in step S300, it is possible to check whether each of the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor is normal, compare the normal linear position sensing value of the sliding rod with the normal position sensing value of the output-side steering motor to verify the validity of the normal position sensing value, and control the output-side steering motor based on the target position value of the sliding rod and the verified valid normal position sensing value of the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor.

[0176] According to one embodiment, in step S300, either the linear position sensing value of the sliding rod or the position sensing value of the output-side steering motor can be selected as the primary position sensing value and the other as the redundant position sensing value. The primary position sensing value and the redundant position sensing value are checked to see if each of them is normal. The normal primary position sensing value and the normal redundant position sensing value are compared to verify the validity of the normal primary position sensing value. The output-side steering motor is controlled based on the verified valid normal primary position sensing value and the target position value of the sliding rod.

[0177] Next, in step S400, if the verified valid normal main position sensing value becomes an abnormal value when controlling the output-side steering motor based on the target position value of the sliding rod and the verified valid normal main position sensing value, then the output-side steering motor can be controlled based on the target position value of the sliding rod and the normal redundant position sensing value.

[0178] In another embodiment, in step S300, it is possible to check whether each of the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor is normal, compare the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor to verify the validity of the normal position sensing value, select the normal linear position sensing value of the sliding rod or the normal position sensing value of the output-side steering motor that has been verified as valid as the main position sensing value and the other as the redundant position sensing value, and control the output-side steering motor based on the target position value of the sliding rod and the main position sensing value.

[0179] Then, in step S400, if the main position sensing value becomes an abnormal value when controlling the output-side steering motor based on the target position value and the main position sensing value, the output-side steering motor can be controlled based on the target position value of the sliding rod and the redundant position sensing value.

[0180] In another embodiment, in step S300, it is possible to check whether each of the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor is normal, select the normal linear position sensing value of the sliding rod or the normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value, compare the primary position sensing value and the redundant position sensing value to verify the validity of the primary position sensing value, and control the output-side steering motor based on the target position value of the sliding rod and the verified valid primary position sensing value.

[0181] Next, in step S400, if the valid normal main position sensing value becomes an abnormal value when controlling the output-side steering motor based on the target position value of the sliding rod and the valid main position sensing value, the output-side steering motor can be controlled based on the target position value of the sliding rod and the redundant position sensing value.

[0182] Figure 14 This is a block diagram illustrating a computer system configuration for a steering control device, a steering assist device, and a steering system according to one embodiment.

[0183] refer to Figure 14The above embodiments can be implemented in a computer system as, for example, a computer-readable recording medium. As shown in the figure, the computer system 1000, which includes a steering control device, a steering assist device, and a steering system, may include at least one of one or more processors 1010, memory 1020, storage units 1030, user interface input units 1040, and user interface output units 1050, which can communicate with each other via a bus 1060. The computer system 1000 may also include a network interface 1070 for connecting to a network. The processor 1010 may be a central processing unit (CPU) or a semiconductor device that executes processing instructions stored in the memory 1020 and / or storage units 1030. The memory 1020 and storage units 1030 may include various types of volatile / non-volatile storage media. For example, the memory 1200 may include a read-only memory (ROM) 1024 and a random access memory (RAM) 1025.

[0184] Therefore, these embodiments can be implemented as a non-volatile computer recording medium storing computer-implemented methods or computer-executable instructions. These instructions can be executed by a processor to perform a method according to an embodiment of this disclosure. In particular, if at least one core comprises a plurality of cores, at least one of the plurality of cores may include a lockstep core.

[0185] The above description is provided to enable any person skilled in the art to acquire and use the technical ideas of this disclosure, and is provided in the context of a specific application and its requirements. Various variations, additions, and substitutions to the described embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of this disclosure. The above description and drawings are provided for illustrative purposes only, illustrating embodiments of the technical ideas of this disclosure. That is, the disclosed embodiments are intended to illustrate the scope of the technical ideas of this disclosure. Therefore, the scope of this disclosure is not limited to the embodiments shown, but should be given the broadest scope consistent with the claims. The scope of protection of this disclosure should be interpreted based on the appended claims, and all technical ideas within their equivalent scope should be interpreted as included within the scope of this disclosure.

[0186] Cross-references to related applications

[0187] This application claims priority to Korean Patent Application No. 10-2020-0100715, filed on August 11, 2020, which is incorporated herein for all purposes, as if it were fully set forth herein.

Claims

1. A steering assist device, the steering assist device comprising: An input-side steering control module controls an input-side steering actuator to assist the input-side mechanism connected to the steering wheel; An output-side steering control module controls an output-side steering actuator to assist the output-side mechanism, which is mechanically separated from the input-side mechanism and connected to the wheels. An output-side linear position sensor provides a linear position sensing value for a sliding rod, the sliding rod being configured to slide axially within a housing and connected to a wheel; as well as An output-side steering motor position sensor provides position sensing values ​​for the output-side steering motor. Specifically, the output-side steering control module checks whether each of the linear position sensing value of the slider and the position sensing value of the output-side steering motor is normal. It compares the normal linear position sensing value of the slider with the normal position sensing value of the output-side steering motor to verify the validity of these normal position sensing values. Based on the target position value of the slider received from the input-side steering control module and the verified valid normal position sensing value of the slider and the normal position sensing value of the output-side steering motor, it controls the output-side steering motor.

2. The steering assist apparatus according to claim 1, wherein The output-side steering control module selects either the linear position sensing value of the sliding rod or the position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value. It checks whether each of the primary position sensing value and the redundant position sensing value is normal, compares the normal primary position sensing value with the normal redundant position sensing value to verify the validity of the normal primary position sensing value, and controls the output-side steering motor based on the target position value of the sliding rod and the verified valid normal primary position sensing value.

3. The steering assist apparatus according to claim 2, wherein If, when controlling the output-side steering motor based on the target position value of the sliding rod and the verified valid normal primary position sensing value, the verified valid normal primary position sensing value becomes an abnormal value, then the output-side steering control module controls the output-side steering motor based on the target position value of the sliding rod and the normal redundant position sensing value.

4. The steering assist apparatus according to claim 1, wherein The output-side steering control module checks whether each of the linear position sensing value of the slider and the position sensing value of the output-side steering motor is normal. It compares the normal linear position sensing value of the slider with the normal position sensing value of the output-side steering motor to verify the validity of these normal position sensing values. It selects the verified valid normal linear position sensing value of the slider or the verified valid normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value. It then controls the output-side steering motor based on the target position value of the slider and the primary position sensing value.

5. The steering assist apparatus according to claim 4, wherein If the primary position sensing value becomes an abnormal value when the output-side steering motor is controlled based on the target position value of the sliding rod and the primary position sensing value, then the output-side steering control module controls the output-side steering motor based on the target position value of the sliding rod and the redundant position sensing value.

6. The steering assist apparatus according to claim 1, wherein The output-side steering control module checks whether each of the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor is normal. It selects either the normal linear position sensing value of the sliding rod or the normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value. It compares the primary position sensing value with the redundant position sensing value to verify the validity of the primary position sensing value, and controls the output-side steering motor based on the target position value of the sliding rod and the verified valid primary position sensing value.

7. The steering assist device according to claim 6, wherein, If, when controlling the output-side steering motor based on the target position value of the sliding rod and the verified valid primary position sensing value, the verified valid primary position sensing value becomes an abnormal value, then the output-side steering control module controls the output-side steering motor based on the target position value of the sliding rod and the redundant position sensing value.

8. The steering assist device according to claim 6, wherein, The output-side linear position sensor provides a linear position sensing value for the sliding rod, which is configured to slide axially while being prevented from rotating by an anti-rotation member.

9. A steering system, the steering system comprising: A steering system, the steering system comprising an input-side mechanism connected to a steering wheel and an output-side mechanism mechanically separated from the input-side mechanism and connected to the wheels; as well as A steering assist device, comprising an input-side steering control module that controls an input-side steering actuator to assist the input-side mechanism, and an output-side steering control module that controls an output-side steering actuator to assist the output-side mechanism. The output-side mechanism includes a sliding rod connected to the wheel and configured to slide axially within the housing. The steering assist device further includes: an output-side linear position sensor, which provides a linear position sensing value for the sliding rod; and an output-side steering motor position sensor, which provides a position sensing value for the output-side steering motor. Specifically, the output-side steering control module checks whether each of the linear position sensing value of the slider and the position sensing value of the output-side steering motor is normal, compares the normal linear position sensing value of the slider with the normal position sensing value of the output-side steering motor to verify the validity of these normal position sensing values, and controls the output-side steering motor based on the target position value of the slider received from the input-side steering control module and the verified valid normal position sensing value of the slider's normal linear position sensing value and the normal position sensing value of the output-side steering motor.

10. The steering system according to claim 9, wherein, The output-side steering control module selects either the linear position sensing value of the sliding rod or the position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value. It checks whether each of the primary position sensing value and the redundant position sensing value is normal, compares the normal primary position sensing value with the normal redundant position sensing value to verify the validity of the normal primary position sensing value, and controls the output-side steering motor based on the target position value of the sliding rod and the verified valid normal primary position sensing value.

11. The steering system according to claim 9, wherein, The output-side steering control module checks whether each of the linear position sensing value of the slider and the position sensing value of the output-side steering motor is normal. It compares the normal linear position sensing value of the slider with the normal position sensing value of the output-side steering motor to verify the validity of these normal position sensing values. It selects the verified valid normal linear position sensing value of the slider or the verified valid normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value. It then controls the output-side steering motor based on the target position value of the slider and the primary position sensing value.

12. The steering system according to claim 9, wherein, The output-side steering control module checks whether each of the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor is normal. It selects either the normal linear position sensing value of the sliding rod or the normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value. It compares the primary position sensing value with the redundant position sensing value to verify the validity of the primary position sensing value, and controls the output-side steering motor based on the target position value of the sliding rod and the verified valid primary position sensing value.

13. The steering system according to claim 9, wherein, The output-side mechanism also includes a hollow anti-rotation component, which is circumferentially supported by the sliding rod and connected to the inner circumferential surface of the housing. The output-side linear position sensor provides a linear position sensing value of the sliding rod as it slides axially while being prevented from rotating by the anti-rotation member.

14. A steering assist method, wherein the steering assist method is executed by an output-side steering control module, the output-side steering control module controlling an output-side steering actuator including an output-side steering motor to assist an output-side mechanism, the output-side mechanism being mechanically separated from an input-side mechanism connected to a steering wheel and connected to a wheel, the steering assist method comprising the following steps: Receive the target position value of the output-side mechanism; Receive position sensing values ​​of the output-side mechanism and position sensing values ​​of the output-side steering motor included in the output-side steering actuator from the corresponding sensors; as well as Check whether each of the position sensing values ​​of the output-side mechanism and the output-side steering motor is normal. Compare the normal position sensing values ​​of the output-side mechanism and the normal position sensing values ​​of the output-side steering motor to verify the validity of these normal position sensing values. Control the output-side steering motor based on the target position value of the output-side mechanism and one of the verified valid normal position sensing values ​​of the output-side mechanism and the output-side steering motor. The step of receiving the position sensing values ​​of the output-side mechanism and the output-side steering motor from the corresponding sensors includes the following steps: Receives linear position sensing values ​​from the output-side linear position sensor for a sliding rod connected to the wheel and configured to slide axially within the housing; and The position sensing value of the output-side steering motor is received from the output-side steering motor position sensor, and The step of controlling the output-side steering motor includes the following steps: checking whether each of the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor is normal; comparing the normal linear position sensing value of the sliding rod with the normal position sensing value of the output-side steering motor to verify the validity of these normal position sensing values; and controlling the output-side steering motor based on the target position value of the sliding rod and one of the verified valid normal position sensing values ​​of the sliding rod and the normal linear position sensing value of the sliding rod and the normal position sensing value of the output-side steering motor.

15. The steering assistance method according to claim 14, wherein, The steps of controlling the output-side steering motor include the following steps: selecting either the linear position sensing value of the sliding rod or the position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value; checking whether each of the primary position sensing value and the redundant position sensing value is normal; comparing the normal primary position sensing value with the normal redundant position sensing value to verify the validity of the normal primary position sensing value; and controlling the output-side steering motor based on the target position value of the sliding rod and the verified valid normal primary position sensing value.

16. The steering assistance method according to claim 14, wherein, The steps of controlling the output-side steering motor include the following steps: checking whether each of the linear position sensing value of the slide rod and the position sensing value of the output-side steering motor is normal; comparing the normal linear position sensing value of the slide rod with the normal position sensing value of the output-side steering motor to verify the validity of these normal position sensing values; selecting either the verified valid normal linear position sensing value of the slide rod or the verified valid normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value; and controlling the output-side steering motor based on the target position value of the slide rod and the primary position sensing value.

17. The steering assistance method according to claim 14, wherein, The steps of controlling the output-side steering motor include the following steps: checking whether each of the linear position sensing value of the sliding rod and the position sensing value of the output-side steering motor is normal; selecting either the normal linear position sensing value of the sliding rod or the normal position sensing value of the output-side steering motor as the primary position sensing value and the other as the redundant position sensing value; comparing the primary position sensing value with the redundant position sensing value to verify the validity of the primary position sensing value; and controlling the output-side steering motor based on the target position value of the sliding rod and the verified valid primary position sensing value.

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