Steering assist device and method and steering system

Abstract

The present embodiment relates to a steering assist device and method and a steering system. The steering assist device includes a first input-side steering control module and a second input-side steering control module for controlling input-side steering motors so that an input-side instrument connected to a steering wheel is assisted, and a first output-side steering control module and a second output-side steering control module for controlling output-side steering motors so that an output-side instrument mechanically separated from the input-side instrument and connected to a wheel is assisted, wherein the first input-side steering control module and the second input-side steering control module and the first output-side steering control module and the second output-side steering control module arbitrate role allocation, and can control a corresponding steering motor among the input-side steering motors and the output-side steering motors according to a role allocation arbitration result.

Description

Technical Field

[0001] Embodiments of this disclosure relate to steering assist devices and methods, as well as steering systems. Background Technology

[0002] Generally, a steering system refers to a system that allows a vehicle's driver to 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 (such as electric power steering units (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 have been increasing. Summary of the Invention

[0004] Technical issues

[0005] This embodiment can provide a steering assist device that can optimize redundant use and improve system availability.

[0006] Furthermore, this embodiment can provide a steering assistance method that can optimize redundant use and improve system availability.

[0007] Furthermore, this embodiment can provide a steering system that can optimize redundancy usage and improve system availability.

[0008] Technical solution

[0009] In one aspect, this embodiment can provide a steering assist device, the steering assist device comprising: a first input-side steering control module and a second input-side steering control module, the first input-side steering control module and the second input-side steering control module controlling an input-side steering motor to allow an input-side mechanism connected to a steering wheel to be assisted; and a first output-side steering control module and a second output-side steering control module, the first output-side steering control module and the second output-side steering control module controlling an output-side steering motor to allow an output-side mechanism mechanically disengaged from the input-side mechanism and connected to a wheel to be assisted, wherein the first input-side steering control module and the second input-side steering control module, as well as the first output-side steering control module and the second output-side steering control module, arbitrate role allocation and control the corresponding steering motor among the input-side steering motor and the output-side steering motor according to the result of arbitrating the role allocation.

[0010] In another embodiment, this method can provide a steering assist method for assisting an input-side mechanism connected to a steering wheel and an output-side mechanism connected to a wheel by controlling a first input-side steering control module and a second input-side steering control module connected to an input-side mechanism, and a first output-side steering control module and a second output-side steering control module connected to an output-side mechanism. The steering assist method includes the following steps: arbitrating role allocation through the first input-side steering control module, the second input-side steering control module, the first output-side steering control module, and the second output-side steering control module; and controlling the corresponding steering motor among the input-side steering motor and the output-side steering motor according to the result of the role allocation arbitration performed by the first input-side steering control module, the second input-side steering control module, the first output-side steering control module, and the second output-side steering control module.

[0011] In another embodiment, this embodiment can provide a 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: a first input-side steering control module and a second input-side steering control module, the first input-side steering control module and the second input-side steering control module controlling an input-side steering motor to allow the input-side mechanism to be assisted; and a first output-side steering control module and a second output-side steering control module, the first output-side steering control module and the second output-side steering control module controlling an output-side steering motor to allow the output-side mechanism to be assisted, wherein the first input-side steering control module and the second input-side steering control module, as well as the first output-side steering control module and the second output-side steering control module, arbitrate role allocation and control the corresponding steering motor among the input-side steering motor and the output-side steering motor according to the result of arbitrating the role allocation.

[0012] Beneficial effects

[0013] According to this embodiment, a steering assist device that can optimize redundant use and improve system availability can be provided.

[0014] According to this embodiment, a steering assistance method that can optimize redundant use and improve system availability can be provided.

[0015] According to this embodiment, a steering system that can optimize redundancy usage and improve system availability can be provided. Attached Figure Description

[0016] Figure 1 This is a block diagram illustrating the overall configuration of the steering system according to this embodiment;

[0017] Figure 2 This is a diagram illustrating a steering device according to this embodiment;

[0018] Figure 3 This is a diagram illustrating a steering assist device according to this embodiment;

[0019] Figure 4 This is a block diagram illustrating a specific configuration of the steering control module according to this embodiment;

[0020] Figure 5 and Figure 6 This is a diagram illustrating a steering motor according to this embodiment;

[0021] Figures 7 to 11 The diagram illustrates in detail the steering assist method according to this embodiment;

[0022] Figure 12 This is a flowchart illustrating a steering assistance method according to this embodiment; and

[0023] Figure 13 This is a block diagram illustrating the configuration of a computer system for a steering assist device and a steering system according to this embodiment. Detailed Implementation

[0024] In the following description of examples or embodiments of this disclosure, reference will be made to the accompanying drawings, in which specific examples or embodiments that may be implemented are illustrated, and the same reference numerals and designations may be used to denote the same or similar components even when the same or similar components are shown in different drawings. Furthermore, in the following description of examples or embodiments of this disclosure, detailed descriptions of well-known functions and components incorporated herein will be omitted when it is determined that the description may make the subject matter of some embodiments of this disclosure considerably unclear. Unless used with the term “only,” terms such as “comprising,” “having,” “including,” “constituting,” “forming,” “comprise,” and “form” as used herein are generally intended to allow for the addition of additional components. As used herein, the singular forms are intended to include the plural forms unless the context clearly indicates otherwise.

[0025] 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 substance, order, sequence, or number of elements, but only to distinguish the corresponding element from the others.

[0026] When it is mentioned that the first element is "connected or linked to" the second element, or "in contact or overlaps" with the second element, it should be interpreted that not only can the first element be "directly connected or linked to" the second element or "directly in contact or overlap" with the second element, but a third element can also be "inserted" between the first and second elements, or the first and second elements can be "connected or linked," "in contact or overlap" with each other via a fourth element. Here, the second element can be included in at least one of two or more elements that are "connected or linked," "in contact or overlap" with each other.

[0027] When using time-related terms such as “after,” “following,” “next,” “before,” etc., to describe the process or operation of an element or configuration, or the flow or steps in an operation, processing, or manufacturing method, these terms may be used to describe discontinuous or non-sequential processes or operations unless used together with the terms “directly” or “immediately after.”

[0028] Additionally, when referring to any size, relative dimensions, etc., it should be considered that, even without a specific description, the numerical or corresponding information of a component or feature (e.g., level, range, etc.) includes tolerances or error ranges that can be caused by various factors (e.g., process factors, internal or external shocks, noise, etc.). Furthermore, the term "may" fully encompasses all the meanings of the term "able to".

[0029] The steering assist device and method, as well as the steering system according to this embodiment, are described below with reference to the accompanying drawings.

[0030] Figure 1 This is a block diagram illustrating the overall configuration of the steering system according to this embodiment.

[0031] Reference Figure 1 According to this embodiment, the steering system 1 may include at least one of a steering device 100 or a steering assist device 200.

[0032] The steering system 100 can change the steering angle of the wheels 150 based on the steering force (or rotational force) applied to the steering wheel 140. The steering system 100 may include at least one of an input-side mechanism 110, an output-side mechanism 120, or a disconnect / connect mechanism 130. The input-side device 110, the output-side device 120, and the disconnect / connect mechanism 130 may be connected by at least one of electrical, magnetic, or mechanical connections.

[0033] The input-side mechanism 110 may be connected to the steering wheel 140. The input-side mechanism 110 may rotate in the direction of rotation of the steering wheel 140 or in the opposite direction. The input-side mechanism 110 may include, but is not limited to, a steering shaft connected to the steering wheel 140, and may include any mechanism (or device) that may rotate in the direction of rotation of the steering wheel or in the opposite direction.

[0034] The output-side device 120 can be connected to the input-side device 110 via at least one electrical or mechanical connection. The output-side mechanism 120 can be connected to the wheel 150 to change the steering angle (or movement) of the wheel 150. The output-side mechanism 120 may include, but is not limited to, at least one of a pinion, rack, tie rod, or steering knuckle arm, and may include any mechanism (or device) capable of changing the steering angle (or movement) of the wheel.

[0035] The disconnect / connect mechanism 130 can be connected to the input-side mechanism 110 and the output-side mechanism 120. The disconnect / connect mechanism 130 can mechanically and / or electrically connect or disconnect the input-side mechanism 110 and the output-side mechanism 120. The disconnect / connect mechanism 130 may include, but is not limited to, a clutch, and may include any mechanism (or device) that can mechanically and / or electrically connect and / or disconnect the input-side mechanism and the output-side mechanism.

[0036] Furthermore, according to this 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 in which the input-side mechanism and the output-side mechanism are electrically connected (or a steering-by-wire (SbW) type), or a steering device in which the input-side mechanism and the output-side mechanism are connected by a disconnect / connection mechanism (or an SbW including a clutch).

[0037] Furthermore, the steering wheel 140 and the wheel 150 are illustrated as not being included in the steering mechanism 100, but are not limited thereto and may also be included in the steering mechanism 100.

[0038] 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.

[0039] According to an embodiment, the steering assist device 200 may include at least one of an input power supply 210, a steering control module 220, a steering motor 230, or a sensor module 240. The input power supply 210, the steering control module 220, the steering motor 230, and the sensor module 240 may be connected by at least one of electrical, magnetic, or mechanical connections.

[0040] The input power supply 210 may include at least one of a direct current (DC) power supply or an alternating current (AC) power supply. Specifically, the DC power supply may include, but is not limited to, a battery, and may include any power source that can provide DC power.

[0041] The steering control module 220 can be connected to the input power supply 210. The steering control module 220 can receive electrical energy from the input power supply 210, filter noise in the electrical energy, generate auxiliary steering force by converting the filtered electrical energy based on the steering motor control signal, and control the steering motor 230 based on the auxiliary steering force.

[0042] The sensor module 240 may include at least one sensor.

[0043] Here, the sensor may include at least one of the steering torque sensor 241 and the steering angle sensor 242, but is not limited thereto, and may include any sensor capable of measuring the state of the vehicle and the steering state of the vehicle.

[0044] The steering torque sensor 241 measures the steering torque of the steering wheel and provides this torque information to the steering control module 220. Additionally, the steering angle sensor 242 measures the steering angle of the steering wheel and provides this steering angle information to the steering control module 220.

[0045] The steering control module 220 can generate a steering motor control signal based on at least one of the steering torque information and steering angle information, generate an auxiliary steering force by converting filtered electrical energy according to the steering motor control signal, and control the steering motor 230 based on the auxiliary steering force.

[0046] The steering motor 230 can be connected to the steering control module 220. The steering motor 230 can operate based on the auxiliary steering force provided by the steering control module 220, thereby assisting the steering device 100 in steering.

[0047] The steering motor 230 may include at least one of a single-winding steering motor or a dual-winding steering motor, but is not limited thereto, and may include any motor that can assist the steering device in steering.

[0048] The steering motor 230 may include at least one of a three-phase motor or a five-phase motor, but is not limited thereto, and may include any motor that can assist the steering device in steering.

[0049] In addition, multiple steering control modules 220 can be provided. These multiple steering control modules may include at least one input-side steering control module and at least one output-side steering control module. Multiple steering motors 230 can also be provided. These multiple steering motors may include at least one input-side steering motor and at least one output-side steering motor.

[0050] For example, the steering system according to this embodiment 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; and a steering assist device 200, which includes a plurality of input-side steering control modules that control the input-side steering motor to allow the input-side mechanism 110 to be assisted, and a plurality of output-side steering control modules that control the output-side steering motor to allow the output-side mechanism 120 to be assisted. The plurality of input-side steering control modules and the plurality of output-side steering control modules can arbitrate role allocation and control the corresponding steering motor among the input-side steering motor and the output-side steering motor according to the result of the arbitration role allocation.

[0051] Specifically, when the steering control module 220 includes a first input-side steering control module and a second input-side steering control module, as well as a first output-side steering control module and a second output-side steering control module, and the steering motor 230 includes an input-side steering motor and an output-side steering motor, the steering system 1 according to this embodiment 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; and a steering assist device 200, which includes a first input-side steering control module and a second input-side steering control module that control the input-side steering motor to allow the input-side mechanism 110 to be assisted, and a first output-side steering control module and a second output-side steering control module that control the output-side steering motor to allow the output-side mechanism 120 to be assisted. The first input-side steering control module and the second input-side steering control module, as well as the first output-side steering control module and the second output-side steering control module, can arbitrate role allocation and control the corresponding steering motor among the input-side steering motor and the output-side steering motor according to the result of the arbitration role allocation.

[0052] Here, the steering device 100 may include an input-side mechanism 110 connected to the steering wheel 140 and an output-side mechanism 120 mechanically separated from the input-side mechanism 110 and connected to the wheel 150.

[0053] In the following description, for simplicity, the steering device 100 is described as a steer-by-wire (SbW) type steering device, and the steering control module 220 includes a first input-side steering control module and a second input-side steering control module, as well as a first output-side steering control module and a second output-side steering control module. However, it is not limited thereto, and the following description can be applied to any structure in which the steering device can be assisted by multiple steering control modules.

[0054] Figure 2 This is a diagram illustrating a steering device according to an embodiment.

[0055] Reference Figure 2 According to an embodiment, the steering device 100 may include an input-side mechanism 110 connected to the steering wheel 140 and an output-side mechanism 120 mechanically separated from the input-side mechanism 110 and connected to the wheels 150. In other words, according to an embodiment, the steering device 100 may be a steer-by-wire (SbW) type steering device.

[0056] 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, or steering knuckle arm.

[0057] Figure 3 This is a diagram illustrating a steering assist device according to this embodiment.

[0058] Reference Figure 3 The steering assist device 200 according to this embodiment may include at least one of a steering control module 220 and a steering motor 230. The steering control module 220 may include at least one of an input-side steering control module 221 or an output-side steering control module 222. The input-side steering control module 221 may include at least one of a first input-side steering control module 221-1 and a second input-side steering control module 221-2. The output-side steering control module 222 may include at least one of a first output-side steering control module 222-1 and a second output-side steering control module 222-2. The steering motor 230 may include at least one of an input-side steering motor 231 and an output-side steering motor 232.

[0059] Furthermore, the steering assist device 200 according to this embodiment may include: a first input-side steering control module 221-1 and a second input-side steering control module 221-2, which control the input-side steering motor 231 to allow the input-side mechanism connected to the steering wheel to be assisted; and a first output-side steering control module 222-1 and a second output-side steering control module 222-2, which control the output-side steering motor 232 to allow the output-side mechanism, which is mechanically disengaged from the input-side mechanism and connected to the wheel, to be assisted. The first input-side steering control module 221-1 and the second input-side steering control module 221-2, as well as the first output-side steering control module 222-1 and the second output-side steering control module 222-2, can arbitrate role allocation and control the corresponding steering motors in the input-side steering motor 231 and the output-side steering motor 232 according to the result of the arbitration role allocation.

[0060] Here, role assignment is used to determine the roles of the first input-side steering control module 221-1 and the second input-side steering control module 221-2, as well as the first output-side steering control module 222-1 and the second output-side steering control module 222-2. It can mean determining that one of the first input-side steering control module 221-1 and the second input-side steering control module 221-2 is the input-side main steering control module and the other is the input-side redundant steering control module (or input-side sub-steering control module), and determining that one of the first output-side steering control module 222-1 and the second output-side steering control module 222-2 is the output-side main steering control module and the other is the output-side redundant steering control module (or output-side sub-steering control module).

[0061] Therefore, the first input-side steering control module 221-1 and the second input-side steering control module 221-2, as well as the first output-side steering control module 222-1 and the second output-side steering control module 222-2, can arbitrate role allocation after the initial operation of the steering assist device 200. For example, when the ignition IGN is off and the engine is stopped, the first input-side steering control module 221-1 and the second input-side steering control module 221-2, as well as the first output-side steering control module 222-1 and the second output-side steering control module 222-2, can be in the off state. Subsequently, when the ignition IGN is switched on and the engine is stopped, the first input-side steering control module 221-1 and the second input-side steering control module 221-2, as well as the first output-side steering control module 222-1 and the second output-side steering control module 222-2, can test the initialization state and arbitrate their respective role allocation at this time.

[0062] Specifically, the first input-side steering control module 221-1 and the second input-side steering control module 221-2 can be connected to the input-side steering motor 231 to control the input-side steering motor 231. The input-side steering motor 231 can be connected to the input-side mechanism connected to the steering wheel to assist the input-side mechanism.

[0063] The first output-side steering control module 222-1 and the second output-side steering control module 222-2 can be connected to the output-side steering motor 232 to control the output-side steering motor 232. The output-side steering motor 232 can be connected to an output-side mechanism to assist the output-side mechanism, which is mechanically separated from the input-side mechanism and connected to the wheels.

[0064] For example, the first input-side steering control module 221-1 and the second input-side steering control module 221-2, as well as the first output-side steering control module 222-1 and the second output-side steering control module 222-2, can arbitrate role allocation. The first input-side steering control module 221-1 and the second input-side steering control module 221-2 can control the input-side steering motor 231 based on the result of the input-side role allocation arbitration. The first output-side steering control module 222-1 and the second output-side steering control module 222-2 can control the output-side steering motor 232 based on the result of the output-side role allocation arbitration.

[0065] In other words, the first input-side steering control module 221-1 and the second input-side steering control module 221-2 can arbitrate the input-side role allocation. If the input-side role allocation is successful, the input-side steering motor 231 is controlled according to the result of the input-side role allocation arbitration. However, if the input-side role allocation fails to be arbitrated, the input-side steering motor 231 is controlled according to the result of the input-side role allocation arbitration performed by the first output-side steering control module 222-1 and the second output-side steering control module 222-2.

[0066] Here, if the first input-side steering control module 221-1 and the second input-side steering control module 221-2 fail to arbitrate the input-side role allocation, the first output-side steering control module 222-1 and the second output-side steering control module 222-2 can arbitrate the input-side role allocation in place of the first input-side steering control module 221-1 and the second input-side steering control module 221-2, and provide the arbitration result of the input-side role allocation to the first input-side steering control module 221-1 and the second input-side steering control module 221-2. The first input-side steering control module 221-1 and the second input-side steering control module 221-2 can control the input-side steering motor 231 according to the arbitration result of the input-side role allocation received from the first output-side steering control module 222-1 and the second output-side steering control module 222-2.

[0067] In addition, the first output-side steering control module 222-1 and the second output-side steering control module 222-2 can arbitrate the output-side role allocation. If the output-side role allocation is successful, the output-side steering motor 232 is controlled according to the result of the output-side role allocation arbitration. However, if the output-side role allocation fails to be arbitrated, the output-side steering motor 232 is controlled according to the result of the output-side role allocation performed by the first input-side steering control module 221-1 and the second input-side steering control module 221-2.

[0068] Here, if the first output-side steering control module 222-1 and the second output-side steering control module 222-2 fail to arbitrate the output-side role allocation, the first input-side steering control module 221-1 and the second input-side steering control module 221-2 can arbitrate the output-side role allocation in place of the first output-side steering control module 222-1 and the second output-side steering control module 222-2, and provide the arbitration result of the output-side role allocation to the first output-side steering control module 222-1 and the second output-side steering control module 222-2. The first output-side steering control module 222-1 and the second output-side steering control module 222-2 can control the output-side steering motor 232 according to the output-side role allocation arbitration result received from the first input-side steering control module 221-1 and the second input-side steering control module 221-2.

[0069] As described above, the steering assist device according to this embodiment can arbitrate role allocation through the first input-side steering control module and the second input-side steering control module, as well as the first output-side steering control module and the second output-side steering control module, and control the input-side steering motor and the output-side steering motor based on this, thereby optimizing redundant use and improving system availability.

[0070] Figure 4 This is a block diagram illustrating a specific configuration of the steering control module according to an embodiment.

[0071] Reference Figure 4 The steering control module 220 according to this embodiment may include at least one of a filter unit 10, a steering motor power supply unit 20, a sensor unit 30, a communication unit 40, a controller unit 50, a controller monitoring unit 60, and an operation power conversion unit 70. The filter unit 10, the steering motor power supply unit 20, the sensor unit 30, the communication unit 40, the controller unit 50, the controller monitoring unit 60, and the operation power conversion unit 70 may be connected by at least one of electrical connection, magnetic connection, or mechanical connection.

[0072] The components included in the steering control module 220 may also be included in the first input-side steering control module and the second input-side steering control module, as well as the first output-side steering control module and the second output-side steering control module.

[0073] The filter unit 10 can be connected to the input power supply. The filter unit 10 can filter out noise from the electrical energy supplied from the input power supply and provide the filtered electrical energy to the steering motor power supply unit 20 and the operating power conversion unit 70.

[0074] The steering motor power supply unit 20 can be connected to the filter unit 10 and can receive filtered electrical energy. The steering motor power supply unit 20 can be connected to the controller unit 50 and can receive steering motor control signals. The steering motor power supply unit 20 can 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.

[0075] The power supply unit 20 for the steering motor may include a gate driver 21, an inverter 22, and a phase isolator (PCO) 23.

[0076] Gate driver 21 can receive steering motor control signals from controller unit 50, generate a gating signal based on the steering motor control signals, and provide the gating signal to inverter 22. Inverter 22 can generate auxiliary steering force by converting filtered electrical energy from filter unit according to the gating signal. Phase isolator (e.g., circuit breaker or disconnector) 23 is positioned between inverter 22 and steering motor, and can supply or cut off the auxiliary steering force supplied from inverter 22 to steering motor.

[0077] Sensor unit 3 may include at least one of temperature sensor 31, current sensor 32 or motor position sensor 33, but is not limited thereto, and may include any sensor that can measure the state of the steering system (or steering control module).

[0078] Temperature sensor 31 measures the temperature of steering control module 220 and provides the temperature information to controller unit 50. Furthermore, current sensor 32 measures the auxiliary current (or auxiliary steering force) supplied to the steering motor from steering motor power supply unit 20 and provides the auxiliary current information to controller unit 350. Motor position sensor 33 measures the position of the steering motor and provides position information about the steering motor to controller unit 50.

[0079] The communication unit 40 may include at least one of an internal communication unit or 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) from the vehicle or to provide the vehicle with information related to the steering system.

[0080] The controller unit 50 can be connected to each component of the steering control module 220 to provide or receive information to control the operation of each component of the steering control module 220.

[0081] For example, the controller unit 50 may generate a steering motor control signal based on at least one of the following: torque information about the steering wheel, steering angle information about the steering wheel, temperature information, auxiliary current information, position information about the steering motor, vehicle status information (e.g., vehicle speed information), status information about the input power supply, short circuit (or overcurrent) status information, current sensing information about the filter unit, or status information about the steering motor, and provide the steering motor control signal to the gate driver; or it may generate a disconnect / connect control signal (e.g., a clutch control signal) and provide the disconnect / connect control signal to the disconnect / connect mechanism.

[0082] The controller unit 50 may include, but is not limited to, a microcontroller and may include any device (or computer) capable of processing (or executing or calculating) programs.

[0083] 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 a watchdog signal to the controller monitoring unit 60. The controller monitoring unit 60 can clear the watchdog signal received from the controller unit 50, or it can generate a reset signal and provide the reset signal to the controller unit 50.

[0084] 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. Specifically, the monitor may include a window-type monitor with a period (i.e., a start and an end).

[0085] The operating power conversion unit 70 can 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 the filtered electrical energy from the filter unit 10. The operating power conversion unit 70 may include, but is not limited to, at least one of a DC-DC converter or a regulator, and may include any means capable of converting the output from the filter unit to generate operating voltages for each component of the steering control module.

[0086] The steering control module 220 may include, but is not limited to, an electronic control unit (ECU) and may include any controller (or system) capable of performing electronic control.

[0087] Furthermore, the controller unit 50, which is included in each of the first input-side steering control module and the second input-side steering control module, as well as the first output-side steering control module and the second output-side steering control module, arbitrates the role allocation and controls the corresponding steering motor in the input-side steering motor and the output-side steering motor according to the result of the arbitration role allocation.

[0088] Figure 5 and Figure 6 This is a diagram showing the steering motor according to this embodiment.

[0089] Reference Figure 5 The steering motor 230 according to this embodiment may include a single-winding steering motor 233. Specifically, the steering motor 230 may include a three-phase single-winding motor, but is not limited thereto, and may include any motor capable of assisting steering. Furthermore, the magnet may include a circular magnet, but is not limited thereto, and the shape of the magnet may be modified in various ways. The magnetic flux of the magnet can be measured by the motor position sensor of the steering control module.

[0090] Specifically, in a single-winding steering motor, at least one phase (e.g., three-phase, five-phase, or six-phase) may be included in a single winding. A single winding may be connected to two steering control modules to control their operation.

[0091] Reference Figure 6 The steering motor 230 according to this embodiment may include a dual-winding steering motor 234. Specifically, the steering motor 230 may include a three-phase dual-winding steering motor, but is not limited thereto, and may include any motor capable of assisting steering. Furthermore, the magnet may include a circular magnet, but is not limited thereto, and the shape of the magnet may be modified in various ways. The magnetic flux of the magnet can be measured by the motor position sensor of the steering control module.

[0092] Specifically, in the dual-winding steering motor 234, at least one phase (e.g., three-phase, five-phase, or six-phase) may be included in each of the two windings 234-1 and 234-2. The first winding 234-1 may be connected to a steering control module to control its operation. The second winding 234-2 may be connected to another steering control module to control its operation.

[0093] Furthermore, the steering assist device according to this embodiment may also include a steering motor 230. For example, the steering motor 230 according to this embodiment may also include: an input-side steering motor, which may be a single-winding type input-side steering motor or a double-winding type input-side steering motor; and an output-side steering motor, which may be a single-winding type output-side steering motor or a double-winding type output-side steering motor.

[0094] Figures 7 to 11 The diagram shows in detail the steering assistance method according to this embodiment.

[0095] In the following description, the first input-side steering control module 221-1 and the second input-side steering control module 221-2, as well as the first output-side steering control module 222-1 and the second output-side steering control module 222-2, are assumed to be ECUs.

[0096] Reference Figure 7 The steering assist device 200 according to this embodiment may further include: a first internal communication channel 250, which connects the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1; a second internal communication channel 260, which connects the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2; a first external communication channel 270, which connects the first input-side steering control module ECU1-1 and the first output-side steering control module ECU1-2 and is connected to the vehicle; and a second external communication channel 280, which connects the second input-side steering control module ECU2-1 and the second output-side steering control module ECU2-2 and is connected to the vehicle.

[0097] The specific operation process is described. The first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 can monitor their mutual status through the first internal communication channel 250 to arbitrate the input-side role allocation. After the input-side role allocation is successful, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration. If the input-side role allocation fails to be arbitrated, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration performed by the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2, which is received via the first external communication channel 270 and the second external communication channel 280.

[0098] For example, when the first internal communication channel 250 is in a normal state, allowing their mutual states to be identified, and the identified mutual states are in a normal state, the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 can determine that one is the input-side main steering control module and the other is the input-side redundant steering control module, and control the input-side steering motor. When the first internal communication channel 250 is in an abnormal state, causing their mutual states to be unidentified, but each state is in a normal state, based on the result of the input-side role allocation arbitration performed by the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 received via the first external communication channel 270 and the second external communication channel 280, one is determined to be the input-side main steering control module and the other is the input-side redundant steering control module, and the input-side steering motor is controlled.

[0099] Here, when the first internal communication channel 250 is in an abnormal state, causing the mutual state of the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 to be unrecognized, but each state is in a normal state, the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 can arbitrate the input-side role allocation in place of the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1, and provide the arbitration result of the input-side role allocation to the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1. The first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 can determine, based on the input-side role allocation arbitration result received from the first output-side steering control module ECU1-1 and the second output-side steering control module ECU2-2, which determines that one is the primary input-side steering control module and the other is the redundant input-side steering control module, and control the input-side steering motor.

[0100] Furthermore, the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 can monitor their mutual status through the first internal communication channel 250 to arbitrate the output-side role allocation. When the output-side role allocation is successful, the output-side steering motor is controlled according to the result of the output-side role allocation arbitration. When the output-side role allocation fails to be arbitrated, the output-side steering motor is controlled according to the result of the output-side role allocation arbitration performed by the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1, which is received via the first external communication channel 270 and the second external communication channel 280.

[0101] For example, when the second internal communication channel 260 is in a normal state, allowing their mutual states to be identified, and the identified mutual states are in a normal state, the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 can determine that one is the output-side main steering control module and the other is the output-side redundant steering control module, and control the output-side steering motor. When the second internal communication channel 260 is in an abnormal state, causing their mutual states to be unidentified, but each state is in a normal state, based on the result of the output-side role allocation arbitration performed by the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 received via the first external communication channel 270 and the second external communication channel 280, one is determined to be the output-side main steering control module and the other is the output-side redundant steering control module, and the output-side steering motor is controlled.

[0102] Here, when the second internal communication channel 260 is in an abnormal state, causing the mutual state of the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 to be unrecognized, but each state is in a normal state, the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 can arbitrate the output-side role allocation on behalf of the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2, and provide the arbitration result of the output-side role allocation to the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2. Based on the output-side role allocation arbitration result received from the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1, the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 can determine that one is the primary output-side steering control module and the other is the redundant output-side steering control module, and control the output-side steering motor.

[0103] As described above, in the steering assist device according to this embodiment, when the first input-side steering control module ECU1-1 in the first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 are in a non-wake-up state and the second input-side steering control module ECU2-1 are in a normal state, an input-side role allocation arbitration error occurs in the input-side steering control module. In this case, the output-side steering control module arbitrates the input-side role allocation instead of the input-side steering control module. Similarly, when the first output-side steering control module ECU1-2 in the first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 are in a non-wake-up state and the second output-side steering control module ECU2-2 are in a normal state, an output-side role allocation arbitration error occurs in the output-side steering control module. In this case, the input-side steering control module arbitrates the output-side role allocation instead of the output-side steering control module. Therefore, the availability of the steering system can be increased by optimizing the redundancy of the steering system (e.g., the SbW system), and the limp-home / side-step function can be maximized, thereby improving safety.

[0104] Reference Figure 8 In the steering assist device 200 according to this embodiment, the input-side steering motor may include a single-winding type input-side steering motor 233-1, and the output-side steering motor may include a single-winding type output-side steering motor 243-1.

[0105] The first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 can arbitrate the input-side role allocation and determine, based on the arbitration result, which module is the primary input-side steering control module and the other is the redundant input-side steering control module. The primary input-side steering control module can control the single-winding input-side steering motor 233-1, and if the primary input-side steering control module switches to an abnormal state, the redundant input-side steering control module can take over the control of the single-winding input-side steering motor 233-1.

[0106] The first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 can arbitrate the output-side role allocation and determine, based on the arbitration result, which module is the primary output-side steering control module and the other is the redundant output-side steering control module. The primary output-side steering control module can control the single-winding type output-side steering motor 234-1, and if the primary output-side steering control module switches to an abnormal state, the redundant output-side steering control module can take over controlling the single-winding type output-side steering motor 234-1.

[0107] Reference Figure 9 In the steering assist device according to this embodiment, the input-side steering motor may include a single-winding type input-side steering motor 233-1, and the output-side steering motor may include a dual-winding type output-side steering motor 234-2.

[0108] The first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 can arbitrate the input-side role allocation and determine, based on the arbitration result, which module is the primary input-side steering control module and the other is the redundant input-side steering control module. The primary input-side steering control module can control the single-winding input-side steering motor 233-1, and if the primary input-side steering control module switches to an abnormal state, the redundant input-side steering control module can take over the control of the single-winding input-side steering motor 233-1.

[0109] The first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 can arbitrate the output-side role allocation and determine, based on the arbitration result, which module is the primary output-side steering control module and the other is the redundant output-side steering control module. Both the primary and redundant output-side steering control modules can control the dual-winding type output-side steering motor 234-2. Furthermore, if the primary output-side steering control module switches to an abnormal state, the redundant output-side steering control module can control the dual-winding type output-side steering motor 234-2.

[0110] Reference Figure 10 In the steering assist device according to this embodiment, the input-side steering motor may include a dual-winding type input-side steering motor 233-2, and the output-side steering motor may include a single-winding type output-side steering motor 234-1.

[0111] The first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 can arbitrate the input-side role allocation and determine, based on the arbitration result, which module is the primary input-side steering control module and the other is the redundant input-side steering control module. Both the primary and redundant input-side steering control modules can control the dual-winding input-side steering motor 233-2. Furthermore, if the primary input-side steering control module switches to an abnormal state, the redundant input-side steering control module can control the dual-winding input-side steering motor 233-2.

[0112] The first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 can arbitrate the output-side role allocation and determine, based on the arbitration result, which module is the primary output-side steering control module and the other is the redundant output-side steering control module. The primary output-side steering control module can control the single-winding type output-side steering motor 234-1, and if the primary output-side steering control module switches to an abnormal state, the redundant output-side steering control module can take over controlling the single-winding type output-side steering motor 234-1.

[0113] Reference Figure 11 In the steering assist device according to this embodiment, the input-side steering motor may include a dual-winding type input-side steering motor 233-2, and the output-side steering motor may include a dual-winding type output-side steering motor 243-2.

[0114] The first input-side steering control module ECU1-1 and the second input-side steering control module ECU2-1 can arbitrate the input-side role allocation and determine, based on the arbitration result, which module is the primary input-side steering control module and the other is the redundant input-side steering control module. Both the primary and redundant input-side steering control modules can control the dual-winding input-side steering motor 233-2. Furthermore, if the primary input-side steering control module switches to an abnormal state, the redundant input-side steering control module can control the dual-winding input-side steering motor 233-2.

[0115] The first output-side steering control module ECU1-2 and the second output-side steering control module ECU2-2 can arbitrate the output-side role allocation and determine, based on the arbitration result, which module is the primary output-side steering control module and the other is the redundant output-side steering control module. Both the primary and redundant output-side steering control modules can control the dual-winding type output-side steering motor 234-2. Furthermore, if the primary output-side steering control module switches to an abnormal state, the redundant output-side steering control module can control the dual-winding type output-side steering motor 234-2.

[0116] Furthermore, the communication here may include, but is not limited to, CAN communication, including any communication that can connect the first input-side steering control module and the second input-side steering control module, the first output-side steering control module and the second output-side steering control module, and the vehicle.

[0117] The steering assistance method according to this embodiment will now be described with reference to the accompanying drawings. For the sake of brevity, it will be combined with the above description according to this embodiment. Figures 1 to 11 The overlapping portions of the described steering system and steering assist device are omitted from further description.

[0118] Figure 12 This is a flowchart illustrating a steering assistance method according to this embodiment.

[0119] Reference Figure 12 The steering assistance method according to this embodiment may include at least one of the steps of arbitration role assignment S100 and steering motor control S200.

[0120] The steering assist method according to this embodiment can be a steering assist method that assists the steering of the input-side mechanism connected to the steering wheel and the steering of the output-side mechanism by controlling a first input-side steering control module and a second input-side steering control module connected to the input-side mechanism, and a first output-side steering control module and a second output-side steering control module connected to the output-side mechanism, as well as an output-side steering motor connected to the output-side mechanism.

[0121] First, role allocation can be arbitrated through the first input-side steering control module, the second input-side steering control module, the first output-side steering control module, and the second output-side steering control module (S100).

[0122] For example, in step S100, the input side role allocation can be arbitrated through the first input side steering control module and the second input side steering control module.

[0123] Furthermore, in step S100, the output side role allocation can be arbitrated through the first output side steering control module and the second output side steering control module.

[0124] Here, step S100 can be performed after the initial operation of the steering assist device by arbitrating role allocation through the first input-side steering control module, the second input-side steering control module, the first output-side steering control module, and the second output-side steering control module.

[0125] Subsequently, through the first input-side steering control module, the second input-side steering control module, the first output-side steering control module, and the second output-side steering control module, the corresponding steering motors in the input-side steering motor and the output-side steering motor can be controlled according to the result of the role allocation arbitration (S200).

[0126] For example, in step S200, if the input-side role allocation arbitration is successful in step S100, the input-side steering motor can be controlled according to the result of the input-side role allocation arbitration. If the input-side role allocation arbitration fails in step S100, the input-side steering motor can be controlled by the first output-side steering control module and the second output-side steering control module according to the result of the input-side role allocation arbitration.

[0127] Furthermore, in step S200, if the output-side role allocation arbitration is successful in step S100, the output-side steering motor can be controlled according to the result of the output-side role allocation arbitration. If the output-side role allocation arbitration fails in step S100, the output-side steering motor can be controlled by the first input-side steering control module and the second input-side steering control module according to the result of the output-side role allocation arbitration.

[0128] Furthermore, the steering assistance method according to this embodiment may also include the following steps: a first internal communication channel connects a first input-side steering control module and a second input-side steering control module; a second internal communication channel connects a first output-side steering control module and a second output-side steering control module; a first external communication channel connects the first input-side steering control module and the first output-side steering control module, and is connected to the vehicle; and a second external communication channel connects the second input-side steering control module and the second output-side steering control module, and is connected to the vehicle, thereby assisting the input-side mechanism connected to the steering wheel and the output-side mechanism connected to the wheels.

[0129] For example, in step S100, the mutual status of the first input-side steering control module and the second input-side steering control module can be monitored through the first internal communication channel, so that the input-side role allocation can be arbitrated.

[0130] Subsequently, in step S200, if the input-side role allocation arbitration is successful in step S100, the input-side steering motor can be controlled according to the result of the input-side role allocation arbitration. If the input-side role allocation arbitration fails in step S100, the input-side steering motor can be controlled according to the result of the input-side role allocation arbitration performed by the first output-side steering control module and the second output-side steering control module, which is received via the first external communication channel and the second external communication channel.

[0131] Specifically, when the first internal communication channel is in a normal state, their mutual states are identified, and the mutual states identified by step S100 are in a normal state, step S200 can determine that one is the input-side main steering control module and the other is the input-side redundant steering control module, and control the input-side steering motor. When the first internal communication channel is in an abnormal state, their mutual states are not identified, but each state is in a normal state, based on the result of the input-side role allocation arbitration received via the first external communication channel and the second external communication channel through the first output-side steering control module and the second output-side steering control module, one is determined to be the input-side main steering control module and the other is the input-side redundant steering control module, and control the input-side steering motor.

[0132] Furthermore, in step S100, the mutual status of the first output-side steering control module and the second output-side steering control module can be monitored through the second internal communication channel, so that the output-side role allocation can be arbitrated.

[0133] Subsequently, in step S200, if the output-side role allocation arbitration is successful in step S100, the output-side steering motor can be controlled according to the result of the output-side role allocation arbitration. If the output-side role allocation arbitration fails in step S100, the output-side steering motor can be controlled according to the result of the output-side role allocation arbitration performed by the first input-side steering control module and the second input-side steering control module, which is received via the first external communication channel and the second external communication channel.

[0134] Specifically, when the second internal communication channel is in a normal state, their mutual states are identified, and the mutual states identified by step S100 are in a normal state, step S200 can determine that one is the output-side main steering control module and the other is the output-side redundant steering control module, and control the output-side steering motor. When the second internal communication channel is in an abnormal state, their mutual states are not identified, but each state is in a normal state, based on the result of the output-side role allocation arbitration received via the first external communication channel and the second external communication channel through the first input-side steering control module and the second input-side steering control module, it is determined that one is the output-side main steering control module and the other is the output-side redundant steering control module, and control the output-side steering motor.

[0135] Furthermore, the steering assist method according to this embodiment may also include: an input-side steering motor including a single-winding type input-side steering motor or a double-winding type input-side steering motor; and an output-side steering motor including a single-winding type output-side steering motor or a double-winding type output-side steering motor, thereby assisting the input-side mechanism connected to the steering wheel and the output-side mechanism connected to the wheels.

[0136] For example, in the steering assist method according to this embodiment, the input-side steering motor may include a single-winding input-side steering motor, and the output-side steering motor may include a single-winding output-side steering motor. The input-side mechanism connected to the steering wheel and the output-side mechanism connected to the wheel can be assisted by the single-winding input-side steering motor and the single-winding output-side steering motor.

[0137] In step S100, the input side role allocation can be arbitrated through the first input side steering control module and the second input side steering control module.

[0138] Step S200 can determine, based on the arbitration result of the input-side role allocation in step S100, that one is the input-side main steering control module and the other is the input-side redundant steering control module through the first input-side steering control module and the second input-side steering control module. The input-side main steering control module controls the single-winding type input-side steering motor. If the input-side main steering control module switches to an abnormal state, it replaces the input-side main steering control module and controls the single-winding type input-side steering motor through the input-side redundant steering control module.

[0139] Furthermore, in step S100, the output side role allocation can be arbitrated through the first output side steering control module and the second output side steering control module.

[0140] Step S200 can determine, based on the result of the arbitration of the output side role allocation in step S100, that one of the first output side steering control modules and the other of the second output side steering control module is the main output side steering control module and the other is the redundant output side steering control module. The main output side steering control module controls the single-winding type output side steering motor. If the main output side steering control module switches to an abnormal state, it replaces the main output side steering control module and controls the single-winding type output side steering motor through the redundant output side steering control module.

[0141] For example, in the steering assist method according to this embodiment, the input-side steering motor may include a single-winding type input-side steering motor, and the output-side steering motor may include a dual-winding type output-side steering motor. The input-side mechanism connected to the steering wheel and the output-side mechanism connected to the wheel can be assisted by the single-winding type input-side steering motor and the dual-winding type output-side steering motor.

[0142] In step S100, the input side role allocation can be arbitrated through the first input side steering control module and the second input side steering control module.

[0143] Step S200 can determine, based on the arbitration result of the input-side role allocation in step S100, that one is the input-side main steering control module and the other is the input-side redundant steering control module through the first input-side steering control module and the second input-side steering control module. The input-side main steering control module controls the single-winding type input-side steering motor. If the input-side main steering control module switches to an abnormal state, it replaces the input-side main steering control module and controls the single-winding type input-side steering motor through the input-side redundant steering control module.

[0144] Furthermore, in step S100, the output side role allocation can be arbitrated through the first output side steering control module and the second output side steering control module.

[0145] Step S200 can determine, based on the arbitration result of the output side role allocation in step S100, that one of the first output side steering control modules and the other of the output side redundant steering control module is the main output side steering control module and the other is the redundant output side steering control module, through the first output side steering control module and the second output side steering control module. The dual-winding type output side steering motor is controlled by the main output side steering control module and the redundant output side steering control module. If the main output side steering control module switches to an abnormal state, the dual-winding type output side steering motor is controlled by the redundant output side steering control module.

[0146] For example, in the steering assist method according to this embodiment, the input-side steering motor may include a dual-winding type input-side steering motor, and the output-side steering motor may include a single-winding type output-side steering motor. The input-side mechanism connected to the steering wheel and the output-side mechanism connected to the wheel can be assisted by the dual-winding type input-side steering motor and the single-winding type output-side steering motor.

[0147] In step S100, the input side role allocation can be arbitrated through the first input side steering control module and the second input side steering control module.

[0148] Step S200 can determine, based on the arbitration result of the input-side role allocation in step S100, that one of the input-side steering control modules is the main input-side steering control module and the other is the redundant input-side steering control module through the first input-side steering control module and the second input-side steering control module. The dual-winding type input-side steering motor is controlled through the main input-side steering control module and the redundant input-side steering control module. If the main input-side steering control module switches to an abnormal state, the dual-winding type input-side steering motor is controlled through the redundant input-side steering control module.

[0149] Furthermore, in step S100, the output side role allocation can be arbitrated through the first output side steering control module and the second output side steering control module.

[0150] Step S200 can determine, based on the arbitration result of the output side role allocation in step S100, that one is the output side main steering control module and the other is the output side redundant steering control module through the first output side steering control module and the second output side steering control module. The single-winding type output side steering motor is controlled by the output side main steering control module. If the output side main steering control module switches to an abnormal state, it replaces the output side main steering control module and controls the single-winding type output side steering motor through the output side redundant steering control module.

[0151] For example, in the steering assist method according to this embodiment, the input-side steering motor may include a dual-winding type input-side steering motor, and the output-side steering motor may include a dual-winding type output-side steering motor. The input-side mechanism connected to the steering wheel and the output-side mechanism connected to the wheel can be assisted by the dual-winding type input-side steering motor and the dual-winding type output-side steering motor.

[0152] In step S100, the input side role allocation can be arbitrated through the first input side steering control module and the second input side steering control module.

[0153] Step S200 can determine, based on the arbitration result of the input-side role allocation in step S100, that one of the input-side steering control modules is the main input-side steering control module and the other is the redundant input-side steering control module through the first input-side steering control module and the second input-side steering control module. The dual-winding type input-side steering motor is controlled through the main input-side steering control module and the redundant input-side steering control module. If the main input-side steering control module switches to an abnormal state, the dual-winding type input-side steering motor is controlled through the redundant input-side steering control module.

[0154] Furthermore, in step S100, the output side role allocation can be arbitrated through the first output side steering control module and the second output side steering control module.

[0155] Step S200 can determine, based on the arbitration result of the output side role allocation in step S100, that one of the first output side steering control modules and the other of the output side redundant steering control module is the main output side steering control module and the other is the redundant output side steering control module, through the first output side steering control module and the second output side steering control module. The dual-winding type output side steering motor is controlled by the main output side steering control module and the redundant output side steering control module. If the main output side steering control module switches to an abnormal state, the dual-winding type output side steering motor is controlled by the redundant output side steering control module.

[0156] The steering assist method according to this embodiment is an arbitration control method for achieving high availability of steering systems (e.g., SbW systems), and can compensate for the weaknesses of distributed arbitration performed by unit systems in a multi-device environment, and increase the system availability of arbitration errors by implementing arbitration control logic of external devices, thereby ensuring safety.

[0157] Figure 13 This is a block diagram illustrating the configuration of a computer system for a steering assist device and a steering system according to this embodiment.

[0158] Reference Figure 13The above embodiments can be implemented as, for example, a computer-readable recording medium in a computer system. As shown in the figures, the computer system 1000 for the steering assist device and 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 that 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 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 read-only memory (ROM) 1024 and random access memory (RAM) 1025.

[0159] Therefore, the implementation can be carried out as a non-volatile computer recording medium storing computer-implemented methods or computer-executable instructions. The instructions can be executed by a processor to perform the methods according to the embodiments of this disclosure.

[0160] The foregoing description has been presented to enable any person skilled in the art to make and use the technical ideas of this disclosure, and has been provided in the context of a particular application and its requirements. Various modifications, 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 foregoing description and drawings provide examples of the technical ideas of this disclosure for illustrative purposes only. That is, the disclosed embodiments are intended to illustrate the scope of the technical ideas of this disclosure. Therefore, the scope of the invention is not limited to the illustrated embodiments, but should be given the widest 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 the scope of their equivalents should be interpreted as included within the scope of this disclosure.

[0161] Cross-references to related applications

[0162] This application claims priority to Korean Patent Application No. 10-2020-0016334, filed on February 11, 2020, with the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety.

Claims

1. A steering assist device, the steering assist device comprising: A first input-side steering control module and a second input-side steering control module control the input-side steering motor to allow the input-side mechanism connected to the steering wheel to be assisted; and A first output-side steering control module and a second output-side steering control module control the output-side steering motor to allow the output-side mechanism, which is mechanically disengaged from the input-side mechanism and connected to the wheels, to be assisted. The first input-side steering control module, the second input-side steering control module, and the first output-side steering control module arbitrate role allocation and control the corresponding steering motor among the input-side and output-side steering motors based on the result of the role allocation arbitration. Specifically, the first input-side steering control module and the second input-side steering control module arbitrate the input-side role allocation. If the input-side role allocation is successful, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration. If the input-side role allocation fails, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration performed by the first output-side steering control module and the second output-side steering control module.

2. The steering assist device according to claim 1, wherein, The first output-side steering control module and the second output-side steering control module arbitrate the output-side role allocation. If the output-side role allocation is successful, the output-side steering motor is controlled according to the result of the output-side role allocation arbitration. If the output-side role allocation fails, the output-side steering motor is controlled according to the result of the output-side role allocation arbitration performed by the first input-side steering control module and the second input-side steering control module.

3. The steering assist device according to claim 1, further comprising: A first internal communication channel connects the first input-side steering control module and the second input-side steering control module. A second internal communication channel connects the first output-side steering control module and the second output-side steering control module. A first external communication channel connects the first input-side steering control module and the first output-side steering control module, and is also connected to the vehicle. as well as A second external communication channel connects the second input-side steering control module and the second output-side steering control module, and is also connected to the vehicle.

4. The steering assist device according to claim 3, wherein, The first input-side steering control module and the second input-side steering control module monitor each other's status through the first internal communication channel to arbitrate the input-side role allocation. If the input-side role allocation is successful, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration. If the input-side role allocation fails, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration performed by the first output-side steering control module and the second output-side steering control module, received via the first external communication channel and the second external communication channel.

5. The steering assist device according to claim 4, wherein, If the first internal communication channel is in a normal state, allowing the mutual state of the first input-side steering control module and the second input-side steering control module to be identified and the identified mutual state to be in a normal state, then the first input-side steering control module and the second input-side steering control module determine that one of them is the primary input-side steering control module and the other is the redundant input-side steering control module, and control the input-side steering motor. If the first internal communication channel is in an abnormal state, causing the mutual state of the first input-side steering control module and the second input-side steering control module to be not identified but each state to be in a normal state, then the first input-side steering control module and the second input-side steering control module determine that one of them is the primary input-side steering control module and the other is the redundant input-side steering control module based on the result of the input-side role allocation arbitration performed by the first output-side steering control module and the second output-side steering control module received via the first external communication channel and the second external communication channel, and control the input-side steering motor.

6. The steering assist device according to claim 3, wherein, The first output-side steering control module and the second output-side steering control module monitor each other's status through the second internal communication channel to arbitrate output-side role allocation. If the output-side role allocation is successful, the output-side steering motor is controlled according to the result of the output-side role allocation arbitration. If the output-side role allocation fails, the output-side steering motor is controlled according to the result of the output-side role allocation arbitration performed by the first input-side steering control module and the second input-side steering control module, received via the first external communication channel and the second external communication channel.

7. The steering assist device according to claim 6, wherein, If the second internal communication channel is in a normal state, allowing the mutual state of the first output-side steering control module and the second output-side steering control module to be identified, and the identified mutual state is in a normal state, then the first output-side steering control module and the second output-side steering control module determine that one of them is the output-side main steering control module and the other is the output-side redundant steering control module, and control the output-side steering motor. If the second internal communication channel is in an abnormal state, causing the mutual state of the first output-side steering control module and the second output-side steering control module to be not identified, but each state is in a normal state, then the first output-side steering control module and the second output-side steering control module determine that one of them is the output-side main steering control module and the other is the output-side redundant steering control module based on the result of the output-side role allocation arbitration performed by the first input-side steering control module and the second input-side steering control module received via the first external communication channel and the second external communication channel, and control the output-side steering motor.

8. The steering assist device according to claim 1, further comprising: An input-side steering motor, wherein the input-side steering motor includes a single-winding type input-side steering motor or a dual-winding type input-side steering motor; as well as The output-side steering motor includes a single-winding type output-side steering motor or a double-winding type output-side steering motor.

9. The steering assist device according to claim 8, wherein, If the input-side steering motor includes a single-winding input-side steering motor and the output-side steering motor includes a single-winding output-side steering motor, then the first input-side steering control module and the second input-side steering control module arbitrate the input-side role allocation and determine, based on the arbitration result, that one is the primary input-side steering control module and the other is the redundant input-side steering control module. The primary input-side steering control module controls the single-winding input-side steering motor, and if the primary input-side steering control module switches to an abnormal state, the redundant input-side steering control module takes over. The input-side main steering control module controls the single-winding input-side steering motor, and the first output-side steering control module and the second output-side steering control module arbitrate the output-side role allocation. Based on the result of the output-side role allocation arbitration, one is determined to be the output-side main steering control module and the other is the output-side redundant steering control module. The output-side main steering control module controls the single-winding output-side steering motor, and if the output-side main steering control module switches to an abnormal state, the output-side redundant steering control module takes over the control of the single-winding output-side steering motor from the output-side main steering control module.

10. The steering assist device according to claim 8, wherein, If the input-side steering motor includes the single-winding type input-side steering motor, and the output-side steering motor includes the dual-winding type output-side steering motor, then the first input-side steering control module and the second input-side steering control module arbitrate the input-side role allocation. Based on the arbitration result, one is determined to be the primary input-side steering control module and the other to be the redundant input-side steering control module. The primary input-side steering control module controls the single-winding type input-side steering motor, and if the primary input-side steering control module switches to an abnormal state, the redundant input-side steering control module takes over. The input-side main steering control module controls the single-winding input-side steering motor, and the first output-side steering control module and the second output-side steering control module arbitrate the output-side role allocation, and determine one of them as the output-side main steering control module and the other as the output-side redundant steering control module based on the result of the output-side role allocation arbitration. The output-side main steering control module and the output-side redundant steering control module control the dual-winding output-side steering motor, and if the output-side main steering control module switches to an abnormal state, the output-side redundant steering control module controls the dual-winding output-side steering motor.

11. The steering assist device according to claim 8, wherein, If the input-side steering motor includes the dual-winding type input-side steering motor, and the output-side steering motor includes the single-winding type output-side steering motor, then the first input-side steering control module and the second input-side steering control module arbitrate the input-side role allocation, and determine one as the primary input-side steering control module and the other as the redundant input-side steering control module based on the arbitration result. The primary input-side steering control module and the redundant input-side steering control module control the dual-winding type input-side steering motor. Furthermore, if the primary input-side steering control module switches to an abnormal state, then... The input-side redundant steering control module controls the dual-winding input-side steering motor, and the first output-side steering control module and the second output-side steering control module arbitrate the output-side role allocation. Based on the result of the output-side role allocation arbitration, one is determined to be the output-side main steering control module and the other is the output-side redundant steering control module. The output-side main steering control module controls the single-winding output-side steering motor, and if the output-side main steering control module switches to an abnormal state, the output-side redundant steering control module takes over the control of the single-winding output-side steering motor from the output-side main steering control module.

12. The steering assist device according to claim 8, wherein, If the input-side steering motor includes the dual-winding type input-side steering motor, and the output-side steering motor includes the dual-winding type output-side steering motor, then the first input-side steering control module and the second input-side steering control module arbitrate the input-side role allocation, and determine one as the input-side main steering control module and the other as the input-side redundant steering control module based on the arbitration result. The input-side main steering control module and the input-side redundant steering control module control the dual-winding type input-side steering motor. Furthermore, if the input-side main steering control module switches to an abnormal state, then... The input-side redundant steering control module controls the dual-winding input-side steering motor, and the first output-side steering control module and the second output-side steering control module arbitrate the output-side role allocation. Based on the result of the output-side role allocation arbitration, one is determined to be the output-side main steering control module and the other is the output-side redundant steering control module. The output-side main steering control module and the output-side redundant steering control module control the dual-winding output-side steering motor. If the output-side main steering control module switches to an abnormal state, the output-side redundant steering control module controls the dual-winding output-side steering motor.

13. A steering assist method, the steering assist method being used to assist an input-side mechanism connected to a steering wheel and an output-side mechanism connected to a wheel by controlling a first input-side steering control module and a second input-side steering control module connected to an input-side mechanism, and a first output-side steering control module and a second output-side steering control module connected to an output-side mechanism, the steering assist method comprising the following steps: Role allocation is arbitrated through the first input-side steering control module, the second input-side steering control module, the first output-side steering control module, and the second output-side steering control module; as well as The corresponding steering motors among the input-side and output-side steering motors are controlled based on the result of role allocation arbitration performed by the first input-side steering control module, the second input-side steering control module, the first output-side steering control module, and the second output-side steering control module. Specifically, the first input-side steering control module and the second input-side steering control module arbitrate the input-side role allocation. If the input-side role allocation is successful, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration. If the input-side role allocation fails, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration performed by the first output-side steering control module and the second output-side steering control module.

14. 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 includes: a first input-side steering control module and a second input-side steering control module, which control an input-side steering motor to allow the input-side mechanism to be assisted; and a first output-side steering control module and a second output-side steering control module, which control an output-side steering motor to allow the output-side mechanism to be assisted, wherein the first input-side steering control module and the second input-side steering control module, as well as the first output-side steering control module and the second output-side steering control module, arbitrate role allocation and control the corresponding steering motor among the input-side steering motor and the output-side steering motor according to the result of the role allocation arbitration. Specifically, the first input-side steering control module and the second input-side steering control module arbitrate the input-side role allocation. If the input-side role allocation is successful, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration. If the input-side role allocation fails, the input-side steering motor is controlled according to the result of the input-side role allocation arbitration performed by the first output-side steering control module and the second output-side steering control module.

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