Steering control device and method

Abstract

The embodiment relates to a steering control device and a steering control method. More specifically, a wheel actuator (RWA) control module is controlled to be capable of detecting whether a data signal is transmitted and received through a communication module and outputting an operating state of a communication channel of the communication module, and a communication channel capable of transmitting and receiving a data signal is selected to be used, thereby not only improving steering reliability, but also improving steering reliability. The steering control device and the steering control method are capable of transmitting and receiving a data signal through the other communication channel even if any one of the communication channels fails, and further capable of improving communication stability.

Description

Technical Field

[0001] An embodiment of the present invention relates to a steering control device and method, which outputs a signal for an operation state of a communication channel according to the state of the communication channel, and selects and uses a communication channel capable of transmitting and receiving a data signal. Background Art

[0002] A vehicle steering control device is a device that can change the steering angle of the wheels based on the steering force or control signal applied to the steering wheel by the driver.

[0003] That is, the steering control device is a device that uses a steering motor to assist the steering force so that the driver can easily perform steering, or drives various actuators on the output side by receiving a control signal.

[0004] Recently, as a technology related to autonomous driving, research on redundant systems is being actively conducted.

[0005] A steering control device to which such a redundant system is applied generally includes a plurality of sensors, a plurality of ECUs (Electronic Control Units), and a plurality of steering motors.

[0006] In such a redundant system, if any one of the multiple ECUs does not receive information, operation may be limited.

[0007] In this case, another ECU sends and receives data signals through the communication channel to continue to control the steering motor. However, if the other ECU cannot send and receive data signals for assisting in controlling the steering motor, steering assist control cannot be achieved, which will cause serious problems for the stability of the vehicle.

[0008] Therefore, it is particularly important to quickly and accurately determine the status of the communication channel and replace the abnormal communication channel. Summary of the invention

[0009] Problem that the invention aims to solve

[0010] According to an embodiment of the present invention, a steering control device and a steering control method can be provided in which an RWA control module is controlled to detect whether a data signal is sent and received through a communication module, and output the operating status of a communication channel of the communication module, and select a communication channel that can send and receive data signals, thereby improving steering reliability.

[0011] In addition, a steering control device and a steering control method can be provided which are controlled so that data signals can be sent and received through another (other) communication channel even if any one communication channel fails, thereby improving communication stability.

[0012] Means used to solve problems

[0013] According to one aspect of the present invention, this embodiment can provide a steering control device, characterized in that it includes an RWA (Road Wheel Actuator) control module and a communication module, the RWA control module includes: a first actuator control unit, which receives a control signal from the first steering control unit and controls the operation of the steering motor; a second actuator control unit, which receives a control signal from the second steering control unit and controls the operation of the steering motor, the communication module includes: a first external communication channel, which is used to connect the first actuator control unit and the first steering control unit to each other and to the vehicle; a second external communication channel, which is used to connect the second actuator control unit and the second steering control unit to each other and to the vehicle, the RWA control module detects whether a data signal has been sent and received through the communication module, and outputs the operating status of the first external communication channel and the second external communication channel for the communication module, and selects to use a communication channel that can send and receive data signals.

[0014] In addition, according to the RWA control module of this embodiment, based on the data signals sent and received via the first external communication channel and the second external communication channel, detects whether the data signal has been sent and received. If it is detected that the data signal is not sent and received via the first external communication channel, it is determined that the first external communication channel is in a faulty state, and a warning signal for the operating status of the first external communication channel is output, and the second external communication channel is selected for use as the communication channel.

[0015] In addition, according to this embodiment, the RWA control module sends an execution status information signal and an ACK (Acknowledgment) signal generated based on the first control signal received by the first actuator control unit from the first steering control unit via the first external communication channel to the first steering control unit, and detects whether a reception confirmation signal of the ACK signal and a second control signal are received from the first steering control unit. If it is detected that no data signal is sent and received, it can be determined that the first external communication channel is in a faulty state.

[0016] In addition, according to this embodiment, the RWA control module detects whether the data signal has been sent and received based on the data signal sent and received via the first external communication channel and the second external communication channel. If the data signal is not detected to be sent and received via the second external communication channel, it is determined that the second external communication channel is in a faulty state, and a warning signal for the operating status of the second external communication channel is output, and the first external communication channel is selected to be used as the communication channel.

[0017] In addition, according to this embodiment, the RWA control module sends an execution status information signal and an ACK signal generated based on the first control signal received by the second actuator control unit from the second steering control unit via the second external communication channel to the second steering control unit, and detects whether a reception confirmation signal of the ACK signal and the second control signal are received from the second steering control unit. If no sending and receiving data signals are detected, it can be determined that the second external communication channel is in a faulty state.

[0018] In addition, according to this embodiment, the RWA control module detects whether the data signal has been sent and received based on the data signal sent and received via the first external communication channel and the second external communication channel. If the data signal is not detected to be sent and received via the first external communication channel and the second external communication channel, it is determined that both the first external communication channel and the second external communication channel are in a fault state, and a fault signal for the operating status of the first external communication channel and the second external communication channel can be output.

[0019] In addition, according to this embodiment, the communication module may also include a first internal communication channel, which is used to connect the first steering control unit and the second steering control unit to each other, and the first steering control unit and the second steering control unit exchange information via the first internal communication channel, and compare the data signals sent and received via the first external communication channel and the second external communication channel. If the sent and received data signals are different, a warning signal for the operating status of the first external communication channel or the second external communication channel can be output.

[0020] In addition, according to this embodiment, the communication module may also include a second internal communication channel, and the second internal communication channel is used to connect the first actuator control unit and the second actuator control unit to each other, and the first actuator control unit and the second actuator control unit exchange information via the second internal communication channel, and compare the data signals sent and received via the first external communication channel and the second external communication channel. When the sent and received data signals are different, a warning signal for the operating status of the first external communication channel or the second external communication channel can be output.

[0021] In addition, according to the present embodiment, in a case where the control priority of the first actuator control unit is higher than the control priority of the second actuator control unit, when a fault of the first external communication channel is sensed, the first actuator control unit transfers the control right of the steering motor to the second actuator control unit, and when the control right is transferred to the second actuator control unit, the second actuator control unit can control the steering motor.

[0022] In addition, according to the present embodiment, in a case where the control priority of the first actuator control unit is lower than the control priority of the second actuator control unit, when a fault of the second external communication channel is sensed, the second actuator control unit transfers the control right of the steering motor to the first actuator control unit, and when the control right is transferred to the first actuator control unit, the first actuator control unit can control the steering motor.

[0023] In addition, according to this embodiment, the communication module may further include a gateway, and the gateway is used to send and receive data signals of the first external communication channel and the second external communication channel.

[0024] According to another aspect of the present invention, this embodiment can provide a steering control method, characterized in that it includes: a communication channel analysis step, the RWA control module detects whether the data signal has been sent and received based on the data signal sent and received by the communication module; a communication channel judgment step, the RWA control module judges that the communication channel of the communication module is in any one of normal, warning and fault states according to the detection result; a communication channel state output step, the RWA control module outputs a signal for any one of normal, warning and fault operating states according to the judgment result of the communication channel of the communication module; and a communication channel selection step, the RWA control module selects to use a communication channel that can send and receive data signals.

[0025] In addition, according to this embodiment, in the communication channel analysis step, the RWA control module detects whether the data signal has been sent and received based on the data signal sent and received via the first external communication channel and the second external communication channel. In the communication channel judgment step, if the RWA control module detects that the data signal is not sent and received via the first external communication channel, it is judged that the first external communication channel is in a faulty state. In the communication channel status output step, if the RWA control module judges that the first external communication channel is in a faulty state, it outputs a warning signal for the operating status of the first external communication channel. In the communication channel selection step, if the RWA control module judges that the first external communication channel is in a faulty state, it can select the second external communication channel as the communication channel.

[0026] In addition, according to this embodiment, in the communication channel analysis step, the RWA control module sends to the first steering control unit an execution status information signal and an ACK signal generated based on the first control signal received by the first actuator control unit from the first steering control unit via the first external communication channel, and detects whether a reception confirmation signal and a second control signal of the ACK signal are received from the first steering control unit.

[0027] In addition, according to this embodiment, in the communication channel analysis step, the RWA control module detects whether the data signal has been sent and received based on the data signal sent and received via the first external communication channel and the second external communication channel. In the communication channel judgment step, if the RWA control module detects that the data signal is not sent and received via the second external communication channel, it is judged that the second external communication channel is in a faulty state. In the communication channel status output step, if the RWA control module judges that the second external communication channel is in a faulty state, it outputs a warning signal for the operating status of the second external communication channel. In the communication channel selection step, if the RWA control module judges that the second external communication channel is in a faulty state, it can select the first external communication channel as the communication channel.

[0028] In addition, according to this embodiment, in the communication channel analysis step, the RWA control module sends to the second steering control unit an execution status information signal and an ACK signal generated based on the first control signal received by the second actuator control unit from the second steering control unit via the second external communication channel, and can detect whether a reception confirmation signal of the ACK signal and the second control signal are received from the second steering control unit.

[0029] In addition, according to this embodiment, in the communication channel analysis step, the RWA control module detects whether the data signal has been sent and received based on the data signal sent and received via the first external communication channel and the second external communication channel. In the communication channel judgment step, if the RWA control module detects that the data signal is not sent and received via the first external communication channel and the second external communication channel, it is judged that the first external communication channel and the second external communication channel are both in fault. In the communication channel status output step, the RWA control module can output a fault signal for the operating status of the first external communication channel and the second external communication channel.

[0030] In addition, according to this embodiment, in the communication channel status output step, the first actuator control unit of the RWA control module and the second actuator control unit of the RWA control module exchange information via the second internal communication channel, and compare the data signals sent and received via the first external communication channel and the second external communication channel of the communication module. If the sent and received data signals are different, a warning signal or a fault signal for the operating status of the first external communication channel or the second external communication channel can be output.

[0031] In addition, according to the present embodiment, when the control priority of the first actuator control unit is higher than the control priority of the second actuator control unit, if a fault of the first external communication channel is sensed, the first actuator control unit transfers the control right of the steering motor to the second actuator control unit, and when the control right is transferred to the second actuator control unit, the second actuator control unit can control the steering motor.

[0032] In addition, according to the present embodiment, when the control priority of the first actuator control unit is lower than the control priority of the second actuator control unit, if a fault of the second external communication channel is sensed, the second actuator control unit transfers the control right of the steering motor to the first actuator control unit, and when the control right is transferred to the first actuator control unit, the first actuator control unit can control the steering motor.

[0033] Effects of the Invention

[0034] According to this embodiment, a steering control device and a steering control method can be provided in which an RWA control module is controlled to detect whether a data signal is sent and received through a communication module, and to output the operating status of a communication channel of the communication module, and to select and use a communication channel that can send and receive data signals, thereby improving steering reliability.

[0035] In addition, a steering control device and a steering control method can be provided which are controlled so that even if any one communication channel fails, data signals can be transmitted and received through another communication channel, thereby improving communication stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 is a structural diagram showing a steering control device according to an embodiment.

[0037] Figure 2 is a flowchart illustrating a method for a steering control device to detect an operation state for a first external communication channel according to an embodiment.

[0038] Figure 3 is a flowchart illustrating a method for a steering control device to detect an operation state for a second external communication channel according to an embodiment.

[0039] Figure 4 is a sequence diagram showing a steering control method according to an embodiment.

[0040] Figure 5 is a flow chart showing a steering control method according to an embodiment.

[0041] Figure 6 is a diagram showing a data signal flow of an external control module and an RWA control module according to an embodiment. DETAILED DESCRIPTION

[0042] Hereinafter, some embodiments of the present disclosure are described in detail with reference to the illustrative drawings. When assigning figure marks to the constituent elements of each figure, the same constituent elements are given the same symbols as much as possible even if they are shown in different figures. In addition, when describing the present embodiment, when it is judged that the specific description of the relevant known structure or function will make the gist of the technical idea of ​​the present disclosure unclear, the detailed description may be omitted. The terms used in this specification, such as "including", "having", "consisting of...", etc., are generally intended to allow the addition of other parts, unless these terms are used together with the term "only". When a constituent element is expressed in the singular, the plural form may be included unless otherwise clearly stated.

[0043] In addition, when describing the constituent elements of the present disclosure, terms such as "first", "second", "A", "B", "(a)" or "(b)" may be used. These terms are only used to distinguish the constituent elements from other constituent elements, and the nature, order, sequence or quantity of the corresponding constituent elements are not limited by these terms.

[0044] In the description of the positional relationship of constituent elements, when it is recorded that two or more constituent elements are "connected", "combined" or "linked", it should be understood that the two or more constituent elements may be directly "connected", "combined" or "linked", or the two or more constituent elements may be "connected", "combined" or "linked" in a manner of "intermediate" other constituent elements. Among them, other constituent elements may be included in one or more of the two or more constituent elements that are "connected", "combined" or "linked" to each other.

[0045] In the description of the time flow relationship related to constituent elements, action methods or manufacturing methods, when the time sequence relationship or process sequence relationship is described through such as "after", "next", "then", "before", etc., discontinuous situations may also be included unless "immediately" or "directly" is used.

[0046] On the other hand, even without additional explicit explanation, when referring to a numerical value or its corresponding information (e.g., level, etc.) for a constituent element, the numerical value or its corresponding information should be interpreted as including an error range that may be caused by various factors (e.g., process factors, internal or external impacts, noise, etc.).

[0047] Figure 1 is a structural diagram showing a steering control device according to an embodiment, Figure 2 is a flowchart showing a method for a steering control device to detect an operating state for a first external communication channel according to an embodiment, Figure 3 is a flowchart showing a method for a steering control device to detect an operating state for a second external communication channel according to an embodiment, Figure 4 is a sequence diagram showing a steering control method according to an embodiment, Figure 5 is a flow chart showing a steering control method according to an embodiment, Figure 6 is a diagram showing a data signal flow of an external control module and an RWA control module according to an embodiment.

[0048] In order to provide convenience for driving operations, the steering control devices of the vehicle include: an Electronic Power Steering (EPS) device that uses an electric motor such as a motor to assist the operating force of the steering wheel; a Steer By Wire (SBW) steering device in which an upper device including a steering wheel and a reaction force motor and a lower device including a rack and a steering motor are mechanically separated; and a steering device that uses an external control module to achieve vehicle steering in the absence of a steering wheel.

[0049] Hereinafter, this embodiment will be described using the structure of an autonomous driving vehicle without a steering wheel as an example, but is not limited thereto and can be applied to various types of steering control devices.

[0050] This embodiment can be applied to a column-type electric power steering device, a rack-driven electric power steering device, a steer-by-wire steering device, etc.

[0051] Figure 1 is a structural diagram showing a steering control device according to an embodiment.

[0052] On the one hand, the present embodiment provides a steering control device, which is characterized in that it includes an RWA (Road Wheel Actuator) control module 200 and a communication module, wherein the RWA control module 200 includes: a first actuator control unit 210, which receives a control signal from the first steering control unit 110 and controls the operation of the steering motor 20; a second actuator control unit 220, which receives a control signal from the second steering control unit 120 and controls the operation of the steering motor 20, and the communication module includes: a first external communication channel, which is used to connect the first actuator control unit 210 and the first steering control unit 110 to each other and to the vehicle; a second external communication channel, which is used to connect the second actuator control unit 220 and the second steering control unit 120 to each other and to the vehicle, and the RWA control module 200 is used to detect whether a data signal has been sent and received through the communication module, and output the operating status of the first external communication channel and the second external communication channel for the communication module, and select to use the communication channel that can send and receive data signals.

[0053] This embodiment is explained by taking the structure of an autonomous driving vehicle without a steering wheel as an example. The steering control device calculates the target rack position based on the information of the sensor unit 10 in the RWA control module 200, and outputs the target current corresponding to the rack position to the steering motor 20 so as to be able to change the vehicle's direction of travel according to the control signal of the external control module 100.

[0054] Therefore, the steering control device can rotate the wheels connected to both ends of the rack bar to the left and right by rotating the steering motor 20, so that the vehicle can smoothly travel in a desired direction.

[0055] The external control module 100 may include a first steering control unit 110 that outputs a control signal to a first actuator control unit 210 ; and a second steering control unit 120 that outputs a control signal to a second actuator control unit 220 .

[0056] The RWA control module 200 is powered by a power source, and may perform a function of generating and supplying a target current that needs to be provided to each winding of the steering motor 20 using an inverter.

[0057] like Figure 1As shown, the RWA control module 200 may include: a first actuator control unit 210, which receives a control signal from the first steering control unit 110 and controls the operation (action) of the steering motor 20; and a second actuator control unit 220, which receives a control signal from the second steering control unit 120 and controls the operation of the steering motor 20.

[0058] The RWA control module 200 may be implemented by hardware and software such as an electronic control unit (ECU) including a micro controller unit (MCU), an inverter, a printed circuit board (PCB), etc.

[0059] Furthermore, the first actuator control unit 210 and the second actuator control unit 220 may be a vehicle electronic control unit (ECU) that receives an electrical signal detected by the sensor unit 10 of the vehicle through a communication module and outputs a digital control signal for driving various actuators (Actuator), but is not limited thereto.

[0060] For example, the steering motor 20 included in the steering control device may be a dual-winding steering motor including a first winding motor and a second winding motor therein.

[0061] The communication module may include: a first external communication channel for connecting the first steering control unit 110 and the first actuator control unit 210 to each other and to the vehicle; and a second external communication channel for connecting the second steering control unit 120 and the second actuator control unit 220 to each other and to the vehicle.

[0062] The first external communication channel and the second external communication channel may be a public (vehicle) communication line.

[0063] Therefore, the first steering control portion 110 and the first actuator control portion 210 may transmit and receive data signals via the first external communication channel of the communication module.

[0064] In addition, the second steering control portion 120 and the second actuator control portion 220 may transmit and receive data signals via the second external communication channel of the communication module.

[0065] Furthermore, the communication module may include a gateway 300, which is connected to an external node in a manner capable of receiving sensing information from a sensor unit 10 including a plurality of sensors, and is connected to a network and performs communication in order to send and receive data signals between the first steering control unit 110 and the second steering control unit 120 and between the first actuator control unit 210 and the second actuator control unit 220.

[0066] The external node may be a packet switch or a network port connected to communicate with a module outside the steering control device.

[0067] Specifically, the communication module may be connected to an external node so that the first actuator control unit 210 and the second actuator control unit 220 may receive a plurality of sensing information sensed by each sensor from a plurality of sensors installed on the own vehicle.

[0068] That is, the first actuator control unit 210 and the second actuator control unit 220 may be connected to an external node through the gateway 300 , thereby being able to receive a plurality of sensing information sensed by each sensor from the plurality of sensors.

[0069] Also, the RWA control module 200 may detect whether a data signal has been transmitted and received through the communication module, and output an operation status of a first external communication channel and a second external communication channel for the communication module, and select and use a communication channel that can transmit and receive a data signal.

[0070] The data signal may include a control signal, an execution status information signal based on the control signal, an ACK (Acknowledgment) signal, and a reception confirmation signal for the ACK signal.

[0071] At this time, the control signal may include control instructions for the angular velocity of the steering motor, the rack position, and the rack speed; the execution status information signal may include the current position of the rack, the RWA status, the maximum possible output of the steering motor, the activation status of the external interface, etc.

[0072] As an example, the RWA control module 200 detects whether a data signal has been sent and received based on the data signal sent and received via the first external communication channel and the second external communication channel, and if it is detected that the data signal is not sent and received via the first external communication channel, it is determined that the first external communication channel is in a faulty state, and a warning signal for the operating status of the first external communication channel is output, and the second external communication channel is selected as the communication channel and used.

[0073] More specifically, the RWA control module 200 may transmit an execution state information signal and an ACK signal generated based on the first control signal received by the first actuator control portion 210 from the first steering control portion 110 via the first external communication channel to the first steering control portion 110 .

[0074] Furthermore, the RWA control module 200 detects whether the reception confirmation signal of the ACK signal and the second control signal are received from the first steering control unit 110, and when it is detected that the second steering control unit 110 does not send and receive data signals, the first external communication channel may be determined to be in failure.

[0075] Figure 2 is a flowchart illustrating a method for a steering control device to detect an operation state for a first external communication channel according to an embodiment.

[0076] Reference Figure 2 , the first actuator control portion 210 may receive a first control signal from the first steering control portion 110 via a first external communication channel (step S510 ).

[0077] Also, the first actuator control portion 210 may transmit an execution state information signal and an ACK signal generated based on the first control signal received from the first steering control portion 110 via the first external communication channel to the first steering control portion 110 (step S520 ).

[0078] The execution status information signal may be a signal containing the executed control result and the RWA status, which is fed back by the first actuator control unit 210 to the first steering control unit 110 via the first external communication channel.

[0079] Furthermore, it may be detected whether the first actuator control unit 210 has received a reception confirmation signal in response to the ACK signal and the second control signal from the first steering control unit 110 via the first external communication channel (step S530 ).

[0080] At this time, if it is detected that the first actuator control unit 210 does not send or receive data signals, it can be determined that the first external communication channel is faulty (step S540); if it is detected that data signals are sent and received, it can be determined that the first external communication channel is normal (step S550).

[0081] Furthermore, when it is determined that the first external communication channel is normal, the first actuator control unit 210 can send an execution status information signal and an ACK signal generated based on the second control signal received from the first steering control unit 110 via the first external communication channel to the first steering control unit 110, and can detect whether a reception confirmation signal and a third control signal for the ACK signal are received from the first steering control unit 110.

[0082] At this time, when it is detected that the first actuator control unit 210 does not send or receive a data signal, it can be determined that the first external communication channel is faulty; when it is detected that a data signal is sent and received, it can be determined that the first external communication channel is normal.

[0083] In this way, the steering control device of this embodiment can repeatedly execute the process in which the first actuator control unit 210 receives the reception confirmation signal and the control signal for the ACK signal, and sends the execution status information signal and the ACK signal. In this process, when it is detected that the reception confirmation signal and the control signal for the ACK signal are not received from the first steering control unit 110, the first external communication channel can be judged to be in failure, and when it is detected that the data signal is sent and received, the first external communication channel can be judged to be normal, and the operation status of the communication channel can be output.

[0084] In addition, the RWA control module 200 detects whether the data signal has been sent and received based on the data signal sent and received via the first external communication channel and the second external communication channel, and when it is detected that the data signal is not sent and received via the second external communication channel, it is determined that the second external communication channel is in a fault, and a warning signal for the operating status of the second external communication channel is output, and the first external communication channel is selected as the communication channel and used.

[0085] More specifically, the RWA control module 200 may transmit an execution state information signal generated based on the first control signal received by the second actuator control portion 220 from the second steering control portion 120 via the second external communication channel and an ACK signal to the second steering control portion 120 .

[0086] Furthermore, the RWA control module 200 detects whether a reception confirmation signal for the ACK signal and the second control signal are received from the second steering control unit 120 , and when it is detected that no data signal is sent or received, it can be determined that the second external communication channel is in failure.

[0087] Figure 3 is a flowchart illustrating a method for a steering control device to detect an operation state for a second external communication channel according to an embodiment.

[0088] Reference Figure 3 , the second actuator control portion 220 may receive a first control signal from the second steering control portion 120 via a second external communication channel (step S610).

[0089] Also, the second actuator control unit 220 may transmit an execution state information signal and an ACK signal generated based on the first control signal received from the second steering control unit 120 via the second external communication channel to the second steering control unit 120 (step S620 ).

[0090] The execution status information signal may be a signal containing the executed control result and the RWA status, which is fed back by the second actuator control unit 220 to the second steering control unit 120 via the second external communication channel.

[0091] Furthermore, it may be detected whether the second actuator control unit 220 has received a reception confirmation signal in response to the ACK signal and the second control signal from the second steering control unit 120 via the second external communication channel (step S630 ).

[0092] At this time, if it is detected that the second actuator control unit 220 does not send and receive data signals, it can be determined that the second external communication channel is faulty (step S640); if it is detected that data signals are sent and received, it can be determined that the second external communication channel is normal (step S650).

[0093] Furthermore, when it is determined that the second external communication channel is normal, the second actuator control unit 220 can send an execution status information signal and an ACK signal generated based on the second control signal received from the second steering control unit 120 via the second external communication channel to the second steering control unit 120, and can detect whether a reception confirmation signal and a third control signal for the ACK signal are received from the second steering control unit 120.

[0094] At this time, when it is detected that the second actuator control unit 220 does not send or receive a data signal, it can be determined that the second external communication channel is faulty; when it is detected that a data signal is sent and received, it can be determined that the second external communication channel is normal.

[0095] In this way, the steering control device according to the present embodiment can repeatedly execute the process in which the second actuator control unit 220 receives the reception confirmation signal and the control signal for the ACK signal, and sends the execution status information signal and the ACK signal. In this process, when it is detected that the reception confirmation signal and the control signal for the ACK signal are not received from the second steering control unit 120, the second external communication channel can be judged to be in a fault state, and when it is detected that the data signal is sent and received, the second external communication channel can be judged to be normal, and the operation state of the communication channel can be output.

[0096] Figure 4 is a sequence diagram showing a steering control method according to an embodiment.

[0097] If the RWA control module 200 determines that the first external communication channel and the second external communication channel are normal, it may output normal signals for the first external communication channel and the second external communication channel (step S710, step S720, step S740).

[0098] In addition, if the RWA control module 200 determines that the first external communication channel is faulty and the second external communication channel is normal, it may output a warning signal for the operation status of the first external communication channel (step S710, step S730, step S750).

[0099] In addition, when the RWA control module 200 determines that the first external communication channel is normal and the second external communication channel is faulty, it may output a warning signal of the operating state of the second external communication channel (step S710, step S720, step S750).

[0100] In addition, the RWA control module 200 detects whether the data signal has been sent and received based on the data signal sent and received via the first external communication channel and the second external communication channel, and if it is detected that the data signal has not been sent and received via the first external communication channel and the second external communication channel, the first external communication channel and the second external communication channel can be judged as both being in a fault state, and a fault signal for the operating status of the first external communication channel and the second external communication channel is output (step S710, step S730, step S760).

[0101] More specifically, the RWA control module 200 may transmit an execution state information signal generated based on the first control signal received by the first actuator control unit 210 from the first steering control unit 110 via the first external communication channel and an ACK signal to the first steering control unit 110 .

[0102] Furthermore, the RWA control module 200 detects whether a reception confirmation signal for the ACK signal and the second control signal are received from the first steering control unit 110 , and when it is detected that no data signal is transmitted or received, the first external communication channel may be determined to be in failure.

[0103] At the same time, the RWA control module 200 may transmit an execution state information signal generated based on the first control signal received by the second actuator control unit 220 from the second steering control unit 120 via the second external communication channel and an ACK signal to the second steering control unit 120 .

[0104] Furthermore, the RWA control module 200 detects whether a reception confirmation signal for the ACK signal and the second control signal are received from the second steering control unit 120 , and when it is detected that no data signal is transmitted or received, the second external communication channel may be determined to be in failure.

[0105] Therefore, the RWA control module 200 determines that the first external communication channel and the second external communication channel are in failure, and may output a failure signal for the operation status of the first external communication channel and the second external communication channel.

[0106] Meanwhile, the communication module may further include a first internal communication channel for connecting the first steering control unit 110 and the second steering control unit 120 to each other.

[0107] Therefore, the first steering control unit 110 and the second steering control unit 120 can exchange information through the first internal communication channel, and compare the data signals sent and received via the first external communication channel and the second external communication channel. Moreover, when the sent and received data signals are different, a warning signal or a fault signal for the operating status of the first external communication channel or the second external communication channel can be output.

[0108] At this time, the first internal communication channel may be a private communication line that is not connected to any external node and through which only the first steering control unit 110 and the second steering control unit 120 can send and receive data signals.

[0109] In addition, the communication module may further include a second internal communication channel for connecting the first actuator control section 210 and the second actuator control section 220 to each other.

[0110] Therefore, the first actuator control unit 210 and the second actuator control unit 220 can exchange information through the second internal communication channel, and compare the data signals sent and received via the first external communication channel and the second external communication channel. Moreover, when the sent and received data signals are different, a warning signal or a fault signal for the operating status of the first external communication channel or the second external communication channel can be output.

[0111] At this time, the second internal communication channel may be a private communication line that is not connected to any external node and through which only the first actuator control unit 210 and the second actuator control unit 220 can send and receive data signals.

[0112] In the case where the control priority of the first actuator control unit 210 is higher than the control priority of the second actuator control unit 220, when a failure of the first external communication channel is sensed, the first actuator control unit 210 may transfer the control right of the steering motor 20 to the second actuator control unit 220. And, when the control right is transferred to the second actuator control unit 220, the second actuator control unit 220 may control the steering motor 20.

[0113] Furthermore, in the case where the control priority of the first actuator control unit 210 is lower than the control priority of the second actuator control unit 220, when a failure of the second external communication channel is sensed, the second actuator control unit 220 may transfer the control right of the steering motor 20 to the first actuator control unit 210. Furthermore, when the control right is transferred to the first actuator control unit 210, the first actuator control unit 210 may control the steering motor 20.

[0114] The steering control device of this embodiment transmits the operating status of the communication module for different communication channels to the automatic driving module, and the automatic driving module can perform vehicle control according to the operating status of the communication module.

[0115] That is, in this embodiment, the automatic driving module can perform normal driving when the external communication channel fails or any one of the external communication channels fails according to the operating status of the communication module output from the RWA control module 200, and can control the vehicle to change to the emergency lane and stop the vehicle when all external communication channels fail.

[0116] At this time, the steering control device can output the operating status of the communication module for different communication channels through a display unit including a liquid crystal display (LCD), a head-up display (HUD), etc., or an audio output unit such as a speaker that can output audio data signals.

[0117] Figure 5 is a flow chart showing a steering control method according to an embodiment.

[0118] Reference Figure 5 , describing the steering control method. The steering control method may include: a communication channel analysis step (step S810), the RWA control module 200 detects whether the data signal has been sent and received based on the data signal sent and received by the communication module; a communication channel judgment step (step S820), the RWA control module 200 judges that the communication channel of the communication module is in any one of normal, warning and fault states according to the detection result; a communication channel state output step (step S830), the RWA control module 200 outputs a signal for any one of normal, warning and fault operation states according to the judgment result for the communication channel of the communication module; and a communication channel selection step (step S840), the RWA control module 200 selects and uses a communication channel that can send and receive data signals.

[0119] More specifically, in the communication channel analysis step (step S810 ), the RWA control module 200 may detect whether a data signal has been transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel.

[0120] At this time, in the communication channel analysis step (step S810), the RWA control module 200 can send an execution status information signal and an ACK signal generated based on the first control signal received by the first actuator control unit 210 from the first steering control unit 110 via the first external communication channel to the first steering control unit 110, and can detect whether a reception confirmation signal for the ACK signal and the second control signal are received from the first steering control unit 110.

[0121] Furthermore, in the communication channel determination step (step S820), if the RWA control module 200 detects that the data signal is not sent and received via the first external communication channel, it may be determined that the first external communication channel is in failure.

[0122] Furthermore, in the communication channel status output step (step S830 ), if the RWA control module 200 determines that the first external communication channel is in failure, a warning signal for the operation status of the first external communication channel may be output.

[0123] Furthermore, in the communication channel selection step (step S840), if the RWA control module 200 determines that the first external communication channel is faulty, the second external communication channel may be selected as the communication channel and used.

[0124] On the other hand, in the communication channel analysis step (step S810), the RWA control module 200 may detect whether a data signal has been transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel.

[0125] At this time, in the communication channel analysis step (step S810), the RWA control module 200 can send an execution status information signal and an ACK signal generated based on the first control signal received by the second actuator control unit 220 from the second steering control unit 120 via the second external communication channel to the second steering control unit 120, and can detect whether a reception confirmation signal and a second control signal for the ACK signal are received from the second steering control unit 120.

[0126] Furthermore, in the communication channel determination step (step S820), if the RWA control module 200 detects that no data signal is transmitted and received via the second external communication channel, the second external communication channel may be determined to be in failure.

[0127] Furthermore, in the communication channel status output step (step S830), if the RWA control module 200 determines that the second external communication channel is in failure, a warning signal for the operation status of the second external communication channel may be output.

[0128] Furthermore, in the communication channel selection step (step S840), if the RWA control module 200 determines that the second external communication channel is faulty, the first external communication channel may be selected as the communication channel and used.

[0129] On the other hand, in the communication channel analysis step (step S810), the RWA control module 200 may detect whether a data signal has been transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel.

[0130] Furthermore, in the communication channel determination step (step S820), if the RWA control module 200 detects that data signals are not sent and received via the first external communication channel and the second external communication channel, the first external communication channel and the second external communication channel may be determined to be both in failure.

[0131] Also, in the communication channel status output step (step S830 ), the RWA control module 200 may output a fault signal for the operation status of the first external communication channel and the second external communication channel.

[0132] In addition, in the communication channel state output step (step S830), the first actuator control section 210 and the second actuator control section 220 may exchange information via the second internal communication channel.

[0133] Furthermore, in the communication channel status output step (step S830), the data signals sent and received via the first external communication channel and the second external communication channel of the communication module are compared, and when the sent and received data signals are different, a warning signal or a fault signal for the operating status of the first external communication channel or the second external communication channel can be output.

[0134] In the case where the control priority of the first actuator control unit 210 is higher than the control priority of the second actuator control unit 220, if a failure of the first external communication channel is sensed, the first actuator control unit 210 may transfer the control right of the steering motor 20 to the second actuator control unit 220. And, when the control right is transferred to the second actuator control unit 220, the second actuator control unit 220 may control the steering motor 20.

[0135] Furthermore, in the case where the control priority of the first actuator control unit 210 is lower than the control priority of the second actuator control unit 220, if a failure of the second external communication channel is sensed, the second actuator control unit 220 may transfer the control right of the steering motor 20 to the first actuator control unit 210. Furthermore, when the control right is transferred to the first actuator control unit 210, the first actuator control unit 210 may control the steering motor 20.

[0136] The steering control device of this embodiment can transmit the operating status of the communication module for different communication channels to the automatic driving module, and the automatic driving module can perform vehicle control according to the operating status of the communication module.

[0137] Figure 6 is a diagram showing a data signal flow of the external control module 100 and the RWA control module 200 according to an embodiment.

[0138] In this embodiment, the RWA control module 200 is repeatedly executed to receive a reception confirmation signal and a control signal for an ACK signal (step S910, step S930, step S950), and to send an execution status information signal and an ACK signal (step S920, step S940, step S960), and in each process, when it is detected that a reception confirmation signal and a control signal for the ACK signal cannot be received from the external control module 100, the communication module can be judged to be in an abnormal (state), and when it is detected that a data signal is sent and received, the communication module can be judged to be in a normal (state).

[0139] Thus, according to the present embodiment, the RWA control module 200 can detect whether a data signal has been sent and received through the communication module, output the operation status of the communication channel for the communication module, and select and use the communication channel that can send and receive data signals, thereby improving the steering reliability. In addition, even if any one of the communication channels fails, it can be controlled to be able to send and receive data signals through another communication channel, thereby improving the communication stability.

[0140] The above description is only used to illustrate the technical idea of ​​the present disclosure. As long as the ordinary technicians in the technical field of the present disclosure can make various modifications and deformations without departing from the essential characteristics of the present technical idea. In addition, since the present embodiment is not intended to limit the technical idea of ​​the present disclosure but is used for illustration, the scope of the present technical idea is not limited by these embodiments. The scope of protection of the present disclosure shall be interpreted by the claims, and all technical ideas within the equivalent scope shall be interpreted as included in the scope of rights of the present disclosure.

Claims

1. A steering control device, characterized in that: include: a wheel actuator control module, comprising a first actuator control unit and a second actuator control unit, wherein the first actuator control unit receives a control signal from the first steering control unit and controls the operation of the steering motor, and the second actuator control unit receives a control signal from the second steering control unit and controls the operation of the steering motor, and a communication module including a first external communication channel for connecting the first actuator control unit and the first steering control unit to each other and to a vehicle, and a second external communication channel for connecting the second actuator control unit and the second steering control unit to each other and to the vehicle; The wheel actuator control module detects whether a data signal is transmitted and received through the communication module, and outputs an operation status of the first external communication channel and the second external communication channel for the communication module, and selects to use a communication channel capable of transmitting and receiving a data signal.

2. The steering control device according to claim 1, characterized in that: the wheel actuator control module detecting whether a data signal is transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel, If the transmission and reception of the data signal via the first external communication channel is not detected, the wheel actuator control module determines that the first external communication channel is in failure, The wheel actuator control module outputs a warning signal for an operation state of the first external communication channel, and selects to use the second external communication channel as a communication channel.

3. The steering control device according to claim 2, characterized in that: the wheel actuator control module transmitting an execution state information signal and a response signal generated based on a first control signal received by the first actuator control unit from the first steering control unit via the first external communication channel to the first steering control unit, The wheel actuator control module detects whether a reception confirmation signal and a second control signal are received from the first steering control unit in response to the response signal. If no transmission and reception data signals are detected, the wheel actuator control module determines that the first external communication channel is in failure.

4. The steering control device according to claim 1, characterized in that: the wheel actuator control module detecting whether a data signal is transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel, If the transmission and reception of the data signal via the second external communication channel is not detected, the wheel actuator control module determines that the second external communication channel is in failure, The wheel actuator control module outputs a warning signal for an operation state of the second external communication channel, and selects to use the first external communication channel as a communication channel.

5. The steering control device according to claim 4, characterized in that: the wheel actuator control module transmitting an execution state information signal and a response signal generated based on a first control signal received by the second actuator control unit from the second steering control unit via the second external communication channel to the second steering control unit, The wheel actuator control module detects whether a reception confirmation signal and a second control signal are received from the second steering control unit in response to the response signal. If no transmission and reception data signals are detected, the wheel actuator control module determines that the second external communication channel is in failure.

6. The steering control device according to claim 1, characterized in that: the wheel actuator control module detecting whether a data signal is transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel, If the transmission and reception of data signals via the first external communication channel and the second external communication channel are not detected, the wheel actuator control module determines that both the first external communication channel and the second external communication channel are in failure, The wheel actuator control module outputs a fault signal for an operating status of the first external communication channel and the second external communication channel.

7. The steering control device according to claim 1, characterized in that: The communication module further includes a first internal communication channel for connecting the first steering control unit and the second steering control unit to each other. The first steering control unit and the second steering control unit exchange information via the first internal communication channel, The first steering control unit and the second steering control unit compare the data signals sent and received via the first external communication channel and the second external communication channel, and if the sent and received data signals are different, output a warning signal or a fault signal for the operating status of the first external communication channel or the second external communication channel.

8. The steering control device according to claim 1, characterized in that: The communication module further includes a second internal communication channel for connecting the first actuator control section and the second actuator control section to each other, the first actuator control section and the second actuator control section exchange information via the second internal communication channel, The first steering control unit and the second steering control unit compare the data signals sent and received via the first external communication channel and the second external communication channel, and if the sent and received data signals are different, output a warning signal or a fault signal for the operating status of the first external communication channel or the second external communication channel.

9. The steering control device according to claim 1, characterized in that: When the control priority of the first actuator control unit is higher than the control priority of the second actuator control unit, If a failure of the first external communication channel is sensed, the first actuator control unit transfers the control right of the steering motor to the second actuator control unit. When the control right is transferred to the second actuator control portion, the second actuator control portion controls the steering motor.

10. The steering control device according to claim 9, characterized in that: When the control priority of the first actuator control unit is lower than the control priority of the second actuator control unit, If a failure of the second external communication channel is sensed, the second actuator control unit transfers the control right of the steering motor to the first actuator control unit. When the control right is transferred to the first actuator control portion, the first actuator control portion controls the steering motor.

11. The steering control device according to claim 1, characterized in that: The communication module further includes a gateway, and the gateway is used to send and receive data signals of the first external communication channel and the second external communication channel.

12. A steering control method, characterized in that: include: a communication channel analyzing step, the wheel actuator control module detecting whether the data signal is sent and received based on the data signal sent and received through the communication module; a communication channel determination step, wherein the wheel actuator control module determines whether the communication channel of the communication module is in any one of a normal state, a warning state and a fault state according to the detection result; a communication channel state output step, wherein the wheel actuator control module outputs a signal for any one of normal, warning and fault operating states according to a determination result of the communication channel of the communication module; and In the communication channel selection step, the wheel actuator control module selects and uses a communication channel capable of sending and receiving data signals.

13. The steering control method according to claim 12, characterized in that: In the communication channel analysis step, the wheel actuator control module detecting whether a data signal is transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel, In the communication channel determination step, If the wheel actuator control module does not detect the sending and receiving of data signals via the first external communication channel, it is determined that the first external communication channel is in failure, In the communication channel state output step, If the wheel actuator control module determines that the first external communication channel is faulty, it outputs a warning signal for the operating state of the first external communication channel, In the communication channel selection step, If the wheel actuator control module determines that the first external communication channel is faulty, the second external communication channel is selected as the communication channel.

14. The steering control method according to claim 13, characterized in that: In the communication channel analysis step, The wheel actuator control module sends an execution status information signal and a response signal generated based on the first control signal received by the first actuator control unit from the first steering control unit via the first external communication channel to the first steering control unit, and detects whether a reception confirmation signal and a second control signal for the response signal are received from the first steering control unit.

15. The steering control method according to claim 12, characterized in that: In the communication channel analysis step, the wheel actuator control module detecting whether a data signal is transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel; In the communication channel determination step, If the wheel actuator control module does not detect the sending and receiving of data signals via the second external communication channel, it is determined that the second external communication channel is in failure; In the communication channel state output step, If the wheel actuator control module determines that the second external communication channel is in failure, outputting a warning signal for the operating state of the second external communication channel; In the communication channel selection step, If the wheel actuator control module determines that the second external communication channel is faulty, the first external communication channel is selected as the communication channel.

16. The steering control method according to claim 15, characterized in that: In the communication channel analysis step, The wheel actuator control module sends an execution status information signal and a response signal generated based on the first control signal received by the second actuator control unit from the second steering control unit via the second external communication channel to the second steering control unit, and detects whether a reception confirmation signal for the response signal and a second control signal are received from the second steering control unit.

17. The steering control method according to claim 12, characterized in that: In the communication channel analysis step, the wheel actuator control module detecting whether a data signal is transmitted and received based on the data signal transmitted and received via the first external communication channel and the second external communication channel; In the communication channel determination step, If the wheel actuator control module does not detect the sending and receiving of data signals via the first external communication channel and the second external communication channel, it is determined that both the first external communication channel and the second external communication channel are in failure; In the communication channel state output step, The wheel actuator control module outputs a fault signal for an operating status of the first external communication channel and the second external communication channel.

18. The steering control method according to claim 12, characterized in that: In the communication channel state output step, The first actuator control unit and the second actuator control unit of the wheel actuator control module exchange information via a second internal communication channel, The first actuator control unit and the second actuator control unit compare the data signals sent and received via the first external communication channel and the second external communication channel of the communication module, and if the sent and received data signals are different, output a warning signal or a fault signal for the operating status of the first external communication channel or the second external communication channel.

19. The steering control method according to claim 18, characterized in that: When the control priority of the first actuator control unit is higher than the control priority of the second actuator control unit, If a failure of the first external communication channel is sensed, the first actuator control unit transfers the control right of the steering motor to the second actuator control unit. When the control right is transferred to the second actuator control portion, the second actuator control portion controls the steering motor.

20. The steering control method according to claim 19, characterized in that: When the control priority of the first actuator control unit is lower than the control priority of the second actuator control unit, If a failure of the second external communication channel is sensed, the second actuator control unit transfers the control right of the steering motor to the first actuator control unit. When the control right is transferred to the first actuator control portion, the first actuator control portion controls the steering motor.

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