Steer-by-wire steering apparatus, power supply system, and vehicle including same

Abstract

The invention relates to a steer-by-wire steering device, a power supply system and a vehicle including the same. A power supply system for supplying power to a steer-by-wire steering device includes a high voltage power source, a converter for converting a voltage of the high voltage power source into an operating voltage, a low voltage power source, a steer-by-wire steering device including a main system and a subsystem, and an uninterruptible power supply device for receiving power from the low voltage power source and supplying power to the subsystem, wherein the uninterruptible power supply device includes a first charging circuit, a first capacitor, and one or more switching elements, and the first switching element connected to the first charging circuit is turned on to apply a boosted operating voltage to the main system in a case where the vehicle is in a parking operation.

Description

TECHNICAL FIELD

[0001] The present embodiment relates to a steer-by-wire steering apparatus and power supply technology. BACKGROUND

[0002] Development of a power supply system including an electric power steering apparatus that provides optimal steering conditions to a driver to achieve various steering operations by driving a motor in an electronic control unit (ECU) according to an operating condition of a vehicle is actively being conducted.

[0003] The above-described electric power steering apparatus includes an electric hydraulic power steering (EHPS), a motor-driven power steering (MDPS), or an electric power steering (EPS). In particular, the electric power steering apparatus can provide a lighter and more comfortable steering feel because the electric power steering apparatus assists power by rotational force of a motor, unlike a hydraulic method that assists power by forming a hydraulic pressure by a pump in the case where a driver performs a parking operation.

[0004] However, the current power supply system structure that generally supplies 12V has the following problem: in the case where a vehicle is in a parking operation, due to a capacity limit of an electric power steering apparatus, a rotation angle of a wheel is not large compared to a rotation angle of a steering wheel, so that a fast rack speed cannot be provided. SUMMARY

[0005] The present embodiment can provide a steer-by-wire steering apparatus and power supply technology.

[0006] In one aspect, the present embodiment can provide a power supply system for supplying power to a steer-by-wire steering apparatus including a main system and a sub system, the power supply system including: a high-voltage power supply; a converter configured to convert a voltage of the high-voltage power supply into an operating voltage; a low-voltage power supply; a main uninterruptible power supply configured to receive operating power from the converter and supply the operating power to the main system of the steer-by-wire steering apparatus; and a sub uninterruptible power supply configured to receive the operating power from the converter and supply the operating power to the sub system of the steer-by-wire steering apparatus, wherein the main uninterruptible power supply includes a first charging circuit, a first capacitor, and one or more switching elements including a first switching element connected to the first charging circuit, and in the case where a vehicle is in a parking operation, the main uninterruptible power supply is configured to turn on the first switching element connected to the first charging circuit to apply a boosted operating voltage to the main system of the steer-by-wire steering apparatus.

[0007] In another aspect, the present embodiment can provide a steer-by-wire steering apparatus including a main system including a first steering feedback actuator configured to provide a steering reaction force and a first road wheel actuator configured to provide a steering force, and a sub system including a second steering feedback actuator configured to provide the steering reaction force and a second road wheel actuator configured to provide the steering force, wherein the main system is configured to receive an operating voltage from one of a converter and a main uninterruptible power supply device, the main uninterruptible power supply device including a first charging circuit, a first capacitor, and one or more switching elements including a first switching element connected to the first charging circuit, and wherein the first switching element connected to the first charging circuit is configured to be turned on to receive a boosted operating voltage when the vehicle is in a parked operation.

[0008] In still another aspect, the present embodiment can provide a vehicle including a high voltage power supply, a motor configured to receive power from the high voltage power supply and apply a force to the vehicle, a converter configured to convert a voltage of the high voltage power supply into an operating voltage, a low voltage power supply, a steer-by-wire steering apparatus including a main system and a sub system, a main uninterruptible power supply device configured to receive operating power from the converter and supply the operating power to the main system of the steer-by-wire steering apparatus, and a sub uninterruptible power supply device configured to receive the operating power from the converter and supply the operating power to the sub system of the steer-by-wire steering apparatus, wherein the main uninterruptible power supply device includes a first charging circuit, a first capacitor, and one or more switching elements including a first switching element connected to the first charging circuit, and the main uninterruptible power supply device is configured to turn on the first switching element connected to the first charging circuit to apply a boosted operating voltage to the main system of the steer-by-wire steering apparatus when the vehicle is in a parked operation.

[0009] The present embodiment can provide a power supply technique for a steer-by-wire steering apparatus.

[0010] Effects of the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned above will be apparent to those skilled in the art from the following description.

[0011] The objects, apparatuses for achieving the above objects, and effects of the present disclosure are not specified by the essential characteristics of the claims, and therefore the scope of the claims is not limited to the disclosure of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0012] The above and other aspects, features and other advantages of the present disclosure will be more clearly understood through the following detailed description taken in conjunction with the accompanying drawings, in which:

[0013] Figure 1 Schematic diagram showing a steer-by-wire steering device to which the present embodiment can be applied.

[0014] Figure 2 A diagram for explaining the operation of a steer-by-wire steering system.

[0015] Figure 3 It is a diagram for explaining a power supply system according to one embodiment.

[0016] Figure 4 It is a diagram for specifically explaining an uninterruptible power supply according to one embodiment.

[0017] Figure 5 1 is a diagram for explaining changes in the motor speed of a vehicle raised by the present apparatus according to another embodiment.

[0018] Figure 6 It is a diagram for explaining the configuration of a steer-by-wire steering device according to still another embodiment.

[0019] Figure 7 It is a diagram for explaining the configuration of a vehicle according to still another embodiment. DETAILED DESCRIPTION

[0020] In the following description of examples or embodiments of the present disclosure, reference will be made to the accompanying drawings, which illustrate specific examples or embodiments that can be implemented, and in which the same reference numerals and symbols may be used to represent the same or similar parts even if the same reference numerals and symbols are shown in different drawings. In addition, in the following description of examples or embodiments of the present 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 in some embodiments of the present disclosure quite unclear. Unless the term is used with the term "only", terms such as "including", "having", "containing", "constituting", "comprising" and "forming" used herein are generally intended to allow for the addition of other parts. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise.

[0021] Terms such as "first," "second," "A," "B," "(A)," or "(B)" may be used herein to describe elements of the present disclosure. Each of these terms is not used to define the nature, sequence, order, or quantity of the elements, but is only used to distinguish the corresponding element from other elements.

[0022] When it is mentioned that a first element is "connected or coupled", "in contact or overlap" or the like with a second element, it should be understood that not only the first element can be "directly connected or coupled" or "directly in contact or overlap" with the second element, but also a third element can be "interposed" between the first element and the second element, or the first element and the second element can be "connected or coupled", "in contact or overlap" or the like via a fourth element. Here, the second element can be included in at least one of two or more elements that are "connected or coupled", "in contact or overlap" or the like with each other.

[0023] When a temporal relative term such as "after", "subsequently", "next", "before", and the like is used to describe a process or operation of an element or configuration, or a flow or step in a method of operation, a processing method, a manufacturing method, these terms can be used to describe a non-continuous or non-sequential process or operation, unless the term "directly" or "immediately" is used together.

[0024] In addition, when any dimension, relative size, or the like is mentioned, it should be considered that the numerical value or the corresponding information of the element or feature (for example, height, range, or the like) includes a tolerance or error range that can be caused by various factors (for example, process factors, internal or external influences, noise, or the like) even if the relevant description is not specified. Furthermore, the term "may" completely covers all meanings of the term "can".

[0025] Figure 1 is a schematic diagram showing a steer-by-wire steering apparatus to which the present embodiment can be applied.

[0026] Reference Figure 1 In the steer-by-wire steering apparatus according to the present embodiment, the angle sensor 105 and the torque sensor 107 are coupled to the side of the steering shaft 103 connected to the steering wheel 101, and in the case where the driver operates the steering wheel 101, the angle sensor 105 and the torque sensor 107 detect the operation of the driver and transmit an electric signal to the electronic control device 110, so that the steering shaft motor 120 and the pinion shaft motor 130 can be operated.

[0027] The electronic control device 110 can control the steering shaft motor 120 and the pinion shaft motor 130 based on the electric signal transmitted from the angle sensor 105 and the torque sensor 107 and the electric signal transmitted from various other sensors installed on the vehicle.

[0028] The steering shaft motor 120 is connected to a reducer 145 that reduces the rotational speed of the motor, and during normal driving, the steering shaft motor provides a reaction force to the steering shaft 103 so that the driver can feel a steering reaction force in the opposite direction when the driver operates the steering wheel 101, and during autonomous driving, steering is performed by the control of the electronic control device 110 without the intervention of the driver's will.

[0029] The pinion shaft motor 130 slides the rack bar 111 connected to the pinion shaft 113 to steer the wheels 119 on both sides through the tie rod 115 and the knuckle arm 117.

[0030] However, for the sake of convenience of explanation, the drawings in these embodiments show an example in which the angle sensor 105 and the torque sensor 107 are provided on the steering shaft 103, and a vehicle speed sensor 104 and a pinion shaft rotation angle sensor 106 are provided for transmitting steering information to the electronic control device 110, but in addition, a motor position sensor, various types of radar and lidar, and an image sensor such as a camera can be provided, and detailed descriptions thereof will be omitted below.

[0031] In this steer-by-wire steering device, since the steering wheel 101 and the wheels 119 are not mechanically connected, the steering shaft motor 120 provides a reaction force to the driver. In addition, the pinion shaft motor 130 provides a steering force to the rack bar 111. The pinion shaft motor 130 and the rack bar 111 can be coupled in various ways, and there is no limitation on the coupling method.

[0032] Hereinafter, a motor that provides a steering reaction force to a steering wheel in a steer-by-wire steering device is described as a steering feedback actuator (SFA). In addition, the above-described pinion shaft motor is an actuator that transmits a driver's steering intention to a wheel and moves the wheel, and is described as a road wheel actuator (RWA).

[0033] Since a steer-by-wire (SbW) steering device has no mechanical connection between a steering wheel and a rack bar, it can be difficult to physically control the steering of a vehicle when a failure occurs in a related system such as an electronic control unit. In addition, with the current power system structure, when a vehicle is in a parking operation, the rotation angle of a wheel can not be large enough compared to the rotation angle of a steering wheel due to the capacity limit of an electric power steering device, making it difficult to control the steering of the vehicle.

[0034] Therefore, a technology that controls the magnitude of the voltage applied to a steer-by-wire steering device according to the driving conditions of a vehicle while providing stability in the steer-by-wire steering device becomes important.

[0035] Accordingly, the present disclosure proposes a method of providing stability to a steering device by installing two uninterruptible power supply devices on a steer-by-wire steering device installed on a vehicle while controlling the magnitude of the voltage applied according to the driving situation.

[0036] Reference Figure 2 The above-described method is described in detail.

[0037] Figure 2FIG. 1 is a diagram for explaining a configuration of a power supply system according to one embodiment.

[0038] Referring to Figure 2 , the power supply system can include at least one power system, and the power system can be connected to a steer-by-wire steering apparatus and be operated. The power system can supply power to a motor system. The steer-by-wire steering apparatus can include the motor system, and the motor system can include a master system and a slave system. In addition, since the master system and the slave system are configured, even if an abnormality occurs in any one of the master system and the slave system, the steer-by-wire steering apparatus can perform normal operation due to the operation of the system in which no abnormality occurs. The present disclosure can refer to the above-described master system as a master system, and the above-described slave system as a slave system.

[0039] The above-described master system and slave system can be configured as physically separated motors. Alternatively, the master system and the slave system can be redundant by constructing the system in the form of double windings on one motor.

[0040] For example, the master system of the steer-by-wire steering apparatus can include a first steering feedback actuator 210 and a first road wheel actuator 220. The first steering feedback actuator 210 can be configured to provide a steering reaction force when a driver performs a steering operation using a steering wheel, and the first road wheel actuator 220 can be configured to provide a steering force. The present disclosure can refer to the first steering feedback actuator 210 as SFA#1 (steering feedback actuator #1), and the first road wheel actuator 220 as RWA#1 (road wheel actuator #1).

[0041] In addition, the slave system of the steer-by-wire steering apparatus can include a second steering feedback actuator 250 and a second road wheel actuator 260. The second steering feedback actuator 250 can also be configured to provide a steering reaction force when a driver performs a steering operation using a steering wheel, like the above-described first steering feedback actuator 210, and the second road wheel actuator 260 can also be configured to provide a steering force, like the above-described first road wheel actuator 220. In the present disclosure, the above-described second steering feedback actuator 250 can be referred to as SFA#2 (steering feedback actuator #2), and the second road wheel actuator 260 can be referred to as RWA#2 (road wheel actuator #2).

[0042] The above-described first steering feedback actuator 210 and second steering feedback actuator 250 can be configured as physically separated motors. Alternatively, the first steering feedback actuator 210 and the second steering feedback actuator 250 can be supplied with power in the form of double windings on one motor. For example, the first steering feedback actuator 210 and the second steering feedback actuator 250 can be configured as double windings that construct a winding and an inverter structure in one motor.

[0043] Similarly, the first road wheel actuator 220 and the second road wheel actuator 260 can be divided into different physical motors. Alternatively, the first road wheel actuator 220 and the second road wheel actuator 260 can be powered in the form of double windings on one motor. For example, the first road wheel actuator 220 and the second road wheel actuator 260 can have double windings configured in a winding and inverter structure in one motor.

[0044] In another example, the main system and the sub system can cooperate to provide normal output. For example, under normal conditions, the first steering feedback actuator 210 can provide 50% output and the second steering feedback actuator 250 can provide 50% output to provide 100% output. Similarly, under normal conditions, the first road wheel actuator 220 can provide 50% output and the second road wheel actuator 260 can provide 50% output to provide 100% output.

[0045] As another example, a redundant system can be configured in which the main system provides 100% output under normal conditions, but if an abnormality occurs in the main system, the sub system provides 50% to 100% output.

[0046] The above-described redundant system of the main system and the sub system is only one example, and can be configured in various ways as needed, without being limited to the above-described ways.

[0047] Meanwhile, the power system that supplies power to the main system and the sub system can also require redundancy. For example, power source #1 201 can be configured to supply operating power to the main system, and power source #2 202 can be configured to supply operating power to the sub system.

[0048] Each of the above-described power systems can include a high-voltage power source that applies a high voltage, and a converter configured to convert a voltage output from the high-voltage power source into an operating voltage.

[0049] Through this, stability can be ensured through an appropriate redundant structure not only in the case of a failure in the motor system but also in the case of a failure in the power system.

[0050] The structure of the steer-by-wire steering apparatus is only one example presented for illustration, and the internal structure of the steer-by-wire steering apparatus is not limited to the above-described structure, and can have various structures as needed, such as a three-redundancy structure, a power sharing structure, a structure in which only the RWA is redundant, etc.

[0051] In the case of the above-described converter, it is difficult to install the converter in a redundant structure because the converter is an expensive device in terms of cost and size of the power supply system.

[0052] Accordingly, the disclosure suggests a method of providing convenience of operation to a driver by double mounting an uninterruptible power supply (UPS) in a steer-by-wire type steering apparatus while simplifying a power supply system by using only one converter.

[0053] This is explained in detail with examples starting from Figure 3

[0054] Figure 3 is a diagram for explaining a power supply system according to one embodiment.

[0055] Referring to Figure 3 , the power supply system of the disclosure can include a high-voltage power supply, a converter, and a low-voltage power supply.

[0056] Specifically, the power supply system 300 of the disclosure can include a high-voltage power supply 301, a converter 302 that converts a voltage of the high-voltage power supply 301 into an operating voltage, a low-voltage power supply 303, a main uninterruptible power supply 304, main systems 310 and 315 of a steer-by-wire type steering apparatus 310, 315, 320, and 325, a sub uninterruptible power supply 305, and sub systems 320 and 325 of the steer-by-wire type steering apparatus 310, 315, 320, and 325.

[0057] For example, the high-voltage power supply 301 of the disclosure can be a power supply that supplies a high voltage of 800 V or more. For example, the high-voltage power supply 301 can be a battery or the like of an electric vehicle. The high-voltage power supply 301 can include a battery, a capacitor, or the like.

[0058] As another example, the converter 302 of the disclosure can convert a high voltage of the high-voltage power supply 301 into an operating voltage. The converter 302 can reduce a supplied high voltage to an operating voltage. The operating voltage can be set to various values according to a vehicle. For example, the operating voltage can be set to 12 V, 24 V, or 48 V according to a vehicle.

[0059] The operating voltage converted by the converter 302 can be applied to a main system through the main uninterruptible power supply 304 of the disclosure or to a sub system through the sub uninterruptible power supply 305.

[0060] As another example, the low-voltage power supply 303 of the disclosure can temporarily supply an operating voltage when a failure occurs in the high-voltage power supply 301 or the converter 302. For example, the low-voltage power supply 303 can include a battery, a capacitor, or the like.

[0061] As another example, the power supply system 300 of the disclosure can include the main systems 310 and 315, the sub systems 320 and 325, the main uninterruptible power supply 304, and the sub uninterruptible power supply 305.

[0062] ​The main systems 310 and 315 of the steer-by-wire steering devices 310, 315, 320, and 325 of the present disclosure may include a first steering feedback actuator 310 for providing a steering reaction force and a first road wheel actuator 315 for providing a steering force. The subsystems 320 and 325 of the steer-by-wire steering devices 310, 315, 320, and 325 may include a second steering feedback actuator 320 for providing a steering reaction force and a second road wheel actuator 325 for providing a steering force.

[0063] The first steering feedback actuator 310 and the second steering feedback actuator 320 of the present disclosure can provide a steering reaction force when the driver performs a steering operation using the steering wheel. When the first steering feedback actuator 310 included in the main systems 310 and 315 fails, the second steering feedback actuator 320 included in the subsystems 320 and 325 can be operated.

[0064] The first road wheel actuator 315 and the second road wheel actuator 325 of the present disclosure are motors that directly apply steering force to the drive shaft of the vehicle, and in the event that the first road wheel actuator 315 included in the main systems 310 and 315 fails, the second road wheel actuator 325 included in the subsystems 320 and 325 can be operated.

[0065] In this way, the present disclosure can configure the power supply system 300 of the steer-by-wire steering device by replicating the steering feedback actuator and the road wheel actuator, so that in the event of an abnormality in the main systems 310 and 315, emergency steering operations can be performed on the vehicle through the subsystems 320 and 325.

[0066] The main uninterruptible power supply 304 of the present disclosure can be configured to receive operating power from at least one of the converter 302 or the low-voltage power supply 303 and supply operating power to the main systems 310 and 315 of the steer-by-wire steering devices 310, 315, 320, and 325. Furthermore, in the event of a failure of the main uninterruptible power supply 304, the sub-uninterruptible power supply 305 can be configured to receive operating power from at least one of the converter 302 and the low-voltage power supply 303 and supply operating power to the subsystems 320 and 325 of the steer-by-wire steering devices 310, 315, 320, and 325. In the present disclosure, the main uninterruptible power supply 304 can be referred to as uninterruptible power supply #1, and the sub-uninterruptible power supply 305 can be referred to as uninterruptible power supply #2. In the event of a failure of the main uninterruptible power supply 304, the sub-uninterruptible power supply 305 can operate as needed.

[0067] In addition, to prevent a short circuit problem in the power system, at least one of the main uninterruptible power supply device 304 and the sub uninterruptible power supply device 305 can include a blocking circuit. The blocking circuit can be configured to interrupt current flowing through the main uninterruptible power supply device or the sub uninterruptible power supply device. The blocking circuit can be configured to interrupt current flowing through the SbW. The blocking circuit can mean a circuit breaker, and can prevent power leakage in the event of a short circuit problem. For example, the blocking circuit can include an electronic fuse circuit or a switching circuit.

[0068] In addition, a steer-by-wire (SbW) system of the autonomous vehicle can not be equipped with a steering feedback actuator, but can be equipped only with a road wheel actuator. To apply this to the operation of the autonomous vehicle, the main uninterruptible power supply device 304 of the present disclosure can be set to communicate with the first road wheel actuator 315 instead of the first steering feedback actuator 310, and the sub uninterruptible power supply device 305 can be set to communicate with the second road wheel actuator 325 instead of the second steering feedback actuator 320.

[0069] In addition, the main uninterruptible power supply device of the present disclosure can include a first charging circuit, a first capacitor, and one or more switching elements, and can control the amount of power supplied to the main system by controlling the one or more switching elements, and the sub uninterruptible power supply device can include a second charging circuit, a second capacitor, and one or more other switching elements, and can control the amount of power supplied to the sub system by controlling the one or more other switching elements when the main uninterruptible power supply device is in a failure state.

[0070] Accordingly, the main system is configured to receive an operating voltage from one of a converter and a main uninterruptible power supply device, the main uninterruptible power supply device including a first charging circuit, a first capacitor, and one or more switching elements including a first switching element connected to the first charging circuit. In addition, the first switching element connected to the first charging circuit is configured to be turned on to receive a boosted operating voltage when the vehicle is in a parked operation.

[0071] In addition, the sub uninterruptible power supply device includes a second charging circuit, a second capacitor, and one or more other switching elements including a fourth switching element connected to the second charging circuit, and the sub system is configured to turn on the fourth switching element connected to the second charging circuit to receive a boosted operating voltage when the vehicle is in a parked operation and the main uninterruptible power supply device is in a failure state.

[0072] Accordingly, even when an abnormality occurs in any one of the main system, the sub system, and the power supply device line, the power supply system 300 of the present disclosure can safely control the steering of the vehicle.

[0073] Figure 4is a diagram for specifically illustrating an uninterruptible power supply device according to one embodiment.

[0074] Referring to Figure 4 , the power supply system 400 of the present disclosure can include two uninterruptible power supply devices, and control the amount of power supplied to the main system or the sub system by the operation of each uninterruptible power supply device as necessary.

[0075] A conventional power supply system uses a converter connected to a high voltage power source and converting a high voltage into an operating voltage, and a converter connected to a low voltage power source and converting a low voltage into an operating voltage.

[0076] In this regard, the present disclosure proposes a method of reducing the number of converters, which are expensive equipment included in a power supply system, to one, while connecting each of two uninterruptible power supply devices to a main system and a sub system, thereby controlling the amount of voltage applied to the main system or the sub system, thereby implementing a boost operation or preventing overvoltage in the steering control of a vehicle.

[0077] Figure 4 The power source 401 includes a high voltage power source, a converter, and a low voltage power source, and the SbW 403 includes a main system and a sub system. For convenience of explanation, the present disclosure only illustrates one of the two uninterruptible power supply devices in Figure 4 . Therefore, Figure 4 The uninterruptible power supply device 402 illustrated in Figure 4 may be a main uninterruptible power supply device of the present disclosure, and can control operating power applied from the power source 401 from the main uninterruptible power supply device to supply changed power to the main system of the SbW 403. Alternatively,

[0078] As Figure 4As shown, an uninterruptible power supply 402 of the present disclosure may include a charging circuit 405, a capacitor 410, and three switching elements, including a first switching element connected to the first charging circuit. In the present disclosure, the charging circuit included in the main uninterruptible power supply may be referred to as first charging circuit 405, the capacitor may be referred to as first capacitor 410, and the three switching elements may be referred to as first switching element 420, second switching element 430, and third switching element 425, respectively. Furthermore, first switching element 420 may be connected to charging circuit 405, second switching element 430 may be connected to ground 415, and third switching element 425 may be connected to capacitor 410. In the present disclosure, first switching element 420 may be referred to as switch #1 or switching element #1, second switching element 430 may be referred to as switch #2 or switching element #2, and third switching element 425 may be referred to as switch #3 or switching element #3.

[0079] Additionally, in the present disclosure, the charging circuit included in the sub-uninterruptible power supply may be referred to as a second charging circuit, the capacitor may be referred to as a second capacitor, and the three switching elements may be referred to as a fourth switching element, a fifth switching element, and a sixth switching element, respectively. Furthermore, the fourth switching element may be connected to the charging circuit, the fifth switching element may be connected to the capacitor, and the sixth switching element may be connected to ground. In the present disclosure, the fourth switching element may be referred to as switch #4 or switching element #4, the fifth switching element may be referred to as switch #5 or switching element #5, and the sixth switching element may be referred to as switch #6 or switching element #6.

[0080] For example, when the vehicle is in a parking operation, the main uninterruptible power supply device 402 of the present disclosure can be configured to turn on the first switching element 420 connected to the first charging circuit 405 to apply an operating voltage that is boosted compared to the power supplied from the power source 401 to the main system included in the SbW 403. As described above, when the boosted operating power is applied to the main system included in the SbW 403, the rotation angle of the wheels and the rotation angle of the steering wheel can be made larger than when the operating power is applied before the boosted voltage is applied.

[0081] For example, when the power supply system is configured to supply 12 V, 21 V operating power, which is boosted by 9 V from 12 V by main uninterruptible power supply 402 , can be supplied to the main system.

[0082] As another example, when the operating voltage applied to the main system included in the SbW 403 is equal to or greater than a preset value, the main uninterruptible power supply device 402 of the disclosure can turn off the first switching element 420 and turn on the third switching element 425 connected to the first capacitor 410 to apply a reduced operating voltage to the main system included in the SbW 403. When the operating power applied to the main system included in the SbW 403 becomes excessively high, the main uninterruptible power supply device 402 of the disclosure can reduce the power to prevent overvoltage. The above-mentioned preset value is a real number exceeding 0, and can be set in various ways as needed.

[0083] For example, when the structure of the power supply system is a system that applies 12V, and the operating power is boosted from 12V to 24V or more based on the main uninterruptible power supply device 402, the reduced operating voltage of the boost can be controlled by the operation of the switching element included in the main uninterruptible power supply device 402 to prevent overvoltage.

[0084] As another example, when at least one of the low-voltage power supply and the high-voltage power supply and the converter included in the power supply 401 fails, the main uninterruptible power supply device 402 of the disclosure can be configured to turn on the first switching element 420 connected to the first charging circuit 405 and the second switching element 430 connected to the ground 415 to supply power to the main system included in the SbW 403 for a preset period of time.

[0085] When at least one of the high-voltage power supply and the converter included in the power supply 401 fails and the low-voltage power supply also fails, the main uninterruptible power supply device 402 of the disclosure operates the voltage charged in the capacitor 410 to move the vehicle to a safe location even in a failure state, and thus cannot supply power to the main system included in the SbW 403.

[0086] For example, if the structure of the power supply system is a system that applies 12V, and both the high-voltage power supply and the low-voltage power supply are in a failure state, the 9V voltage charged in the main uninterruptible power supply device 402 can be supplied to the main system for about 10 minutes.

[0087] Even in this case, if an abnormality occurs in the operation of the main uninterruptible power supply device 402, the vehicle can be moved to a safe location within a limited time by the operation of the sub uninterruptible power supply device at 50% to 100% output performance.

[0088] Like the main uninterruptible power supply device, the sub uninterruptible power supply device of the disclosure also includes a second charging circuit, a second capacitor, and one or more switching elements, and can control the magnitude of the power by controlling the one or more switching elements when the main system is in a failure state.

[0089] For example, when the vehicle is in a parking operation and the main uninterruptible power supply device is in a failure state, the sub uninterruptible power supply device of the present disclosure can be configured to turn on a fourth switching element connected to a second charging circuit to apply a boosted operating voltage to the subsystems included in the SbW. As described above, when the boosted operating power is applied to the subsystems included in the SbW, the rotational angle of the wheels can be made larger than the rotational angle of the steering wheel compared to when the operating power is applied before being boosted, and the failure state of the main system can be dealt with.

[0090] As another example, when the operating voltage applied to the subsystems included in the SbW is equal to or greater than a preset value, the sub uninterruptible power supply device of the present disclosure can turn off the fourth switching element and turn on a fifth switching element connected to the second capacitor to apply a reduced operating voltage to the subsystems included in the SbW. When the operating power applied to the subsystems included in the SbW becomes too high, the sub uninterruptible power supply device of the present disclosure can reduce the power to prevent overvoltage.

[0091] As another example, when at least one of the high-voltage power supply and the converter included in the power supply and the low-voltage power supply and the main system included in the SbW fails, the sub uninterruptible power supply device of the present disclosure can turn on the fourth switching element connected to the second charging circuit and the sixth switching element connected to the ground to supply power to the main system included in the SbW for a preset period of time. When at least one of the high-voltage power supply and the converter included in the power supply fails and the low-voltage power supply and the main system also fail and thus cannot supply power to the main system included in the SbW, the sub uninterruptible power supply device of the present disclosure can operate the voltage charged in the capacitor to move the vehicle to a safe location even in a failure state.

[0092] The power supply system 400 of the present disclosure can organize the operations of the switching elements included in each uninterruptible power supply device as follows.

[0093] For example, when boosted power is to be supplied to the main system in the main uninterruptible power supply device, the first switching element connected to the first charging circuit can be turned on, the second switching element connected to the ground can be turned off, and the third switching element connected to the first capacitor can be turned off.

[0094] As another example, when reduced power supply is to be supplied to the main system in the main uninterruptible power supply device, the first switching element connected to the first charging circuit can be turned off, the second switching element connected to the ground can be turned on, and the third switching element connected to the first capacitor can be turned off.

[0095] As another example, in a case where at least one of a high-voltage power source included in a power source and a converter and a low-voltage power source included in a main uninterruptible power supply device is in a failure state, a first switching element connected to the first charging circuit can be turned on, a second switching element connected to the ground can be turned off, and a third switching element connected to the first capacitor can be turned on.

[0096] As another example, in a case where boosted power is to be supplied to a subsystem in a sub uninterruptible power supply device, a fourth switching element connected to the second charging circuit can be turned on, a fifth switching element connected to the second capacitor can be turned off, and a sixth switching element connected to the ground can be turned off.

[0097] As another example, in a case where reduced power is to be supplied to a subsystem in a sub uninterruptible power supply device, the fourth switching element connected to the second charging circuit can be turned off, the fifth switching element connected to the second capacitor can be turned on, and the sixth switching element connected to the ground can be turned off.

[0098] As another example, in a case where at least one of a low-voltage power source included in a power source and a high-voltage power source and a converter is in a failure state and a main system or a main uninterruptible power supply device is in a failure state in a sub uninterruptible power supply device, the fourth switching element connected to the second charging circuit can be turned on, the fifth switching element connected to the second capacitor can be turned off, and the sixth switching element connected to the ground can be turned on.

[0099] Further, to prevent a short circuit problem in the power system, at least one of the main uninterruptible power supply device and the sub uninterruptible power supply device can include at least one of blocking circuits 440 and 450. The blocking circuit 440 can be connected to the power source. The blocking circuit 450 can be connected to the SbW. The blocking circuit 440 can be configured to interrupt current flowing through the power source 401. Further, the blocking circuit 450 can be configured to interrupt current flowing through the SbW 403. The blocking circuit can refer to a circuit breaker, and can prevent power leakage in the case where a short circuit problem occurs. For example, the blocking circuit can include an electronic fuse circuit or a switching circuit. In this way, even in various cases, the power supply system 400 according to the present embodiment can effectively provide stable steering operation of the vehicle.

[0100] Although the present disclosure has described that the amount of power supplied to the SbW can be controlled by the uninterruptible power supply device, the above-described SbW is only one example, and the present disclosure can also be applied to a safety-related system such as a brake system.

[0101] Figure 5 is a graph for explaining a change in a motor speed of a vehicle raised by the present device according to another embodiment.

[0102] The power supply system of the present disclosure can supply operating power to each motor included in the SbW by boosting the power supplied from the high-voltage power supply or the low-voltage power supply through the dual uninterruptible power supply device.

[0103] Referring to FIG. 6, Figure 5 , the rotational speed of the motor operating in the positive direction is shown with respect to the torque required to operate the motor corresponding to the y-axis.

[0104] For example, the rotational speed of the RWA motor to which 21 V is applied can be determined to be higher than the rotational speed of the RWA motor to which 12 V is applied when operating the same value of torque. Accordingly, the uninterruptible power supply device of the present disclosure can supply boosted power in order to provide a higher rotational speed to each motor included in the SbW, and can control the voltage reduction to prevent overvoltage when the operating voltage rises equal to or greater than a preset value.

[0105] Figure 6 is a diagram for explaining a configuration of a steer-by-wire steering device according to still another embodiment.

[0106] Referring to FIG. 6, Figure 6 , the steer-by-wire steering device 600 of the present disclosure can include a master system 601 including a first steering feedback actuator 610 for providing a steering reaction force and a first road wheel actuator 620 for providing a steering force, and a sub system 602 including a second steering feedback actuator 630 for providing a steering reaction force and a second road wheel actuator 640 for providing a steering force.

[0107] In addition, the steer-by-wire steering device 600 of the present disclosure can include a controller 650 that controls the operation of the above-described master system 601 and sub system 602, in addition to the master system 601 and the sub system 602.

[0108] The above-described master system 601 can receive an operating voltage from any one of the converter and the low-voltage power supply. In addition, the operating voltage applied to the above-described master system can be controlled by the master uninterruptible power supply device.

[0109] For example, the master system 601 can receive an operating voltage through the converter in a normal situation, and operate by receiving an operating voltage through the low-voltage power supply in a situation in which at least one of the high-voltage power supply and the converter is in a failure state.

[0110] In addition, in a situation in which the master system 601 or the master uninterruptible power supply device fails, the above-described sub system 602 can receive an operating voltage from any one of the converter and the low-voltage power supply. In addition, the operating voltage applied to the above-described sub system can be controlled by the sub uninterruptible power supply device.

[0111] For example, the subsystem 602 can receive power from the sub-UPS for a preset period of time when at least one of the high-voltage power supply and converter and the low-voltage power supply and the main system 601 is in a failure state.

[0112] Meanwhile, the controller 650 can control the operation of the main system 601 and the subsystem 602 such that, in the case where at least one of the high-voltage power supply and converter is in a failure state, the vehicle moves to a safe area by power supplied from the low-voltage power supply or the UPS.

[0113] For example, the controller 650 can control the vehicle to move to a safe area by supporting the steering operation of the vehicle via the low-voltage power supply in the case where at least one of the high-voltage power supply and converter is in a failure state.

[0114] In addition, the controller 650 can control the operation of the main system 601 and the subsystem 602 such that, in the case where the low-voltage power supply is in a failure state, the vehicle moves to a safe area by using power supplied from the UPS. The operation of the above-described subsystem 602 can be controlled when the main system is in a failure state.

[0115] Further, the power supply operation and detailed configuration of the steer-by-wire steering device 600 are omitted because they are described with reference to Figure 3 and Figure 4 .

[0116] Figure 7 is a diagram for explaining another vehicle configuration in still another embodiment.

[0117] Referring to Figure 7 , the vehicle 700 can include a high-voltage power supply 710, a drive motor 740 that receives power from the high-voltage power supply 710 and applies driving force to the vehicle 700, a converter that converts the voltage of the high-voltage power supply 710 into an operating voltage, a low-voltage power supply 750, a steer-by-wire steering device including a main system 775 and a subsystem 785, a main UPS 770 that controls the operating voltage applied through the second power converter 760 or the low-voltage power supply 750 and supplies the controlled operating voltage to the main system 775, and a sub-UPS 780 that controls the operating voltage applied through the second power converter 760 or the low-voltage power supply 750 and supplies the controlled operating voltage to the subsystem 785.

[0118] In addition, the vehicle 700 can further include a charging device 720 for charging the high-voltage power supply 710 and a first power converter 730 for applying the high-voltage power supply 710 to the drive motor 740.

[0119] Here, the vehicle 700 can be an electric vehicle. The electric vehicle can be a vehicle that uses electric power to provide driving force. The drive motor 740 is a motor that provides driving force to the front wheels and / or the rear wheels of the vehicle 700 to move the vehicle. The drive motor 740 can operate at a high voltage, and can be equipped with a first power converter 730 that is different from the second power converter 760. Here, the second power converter 760 refers to the converter described above.

[0120] The main system 775 operates by receiving an operating voltage from any one of the second power converter 760, which is a converter, and the low-voltage power supply 750.

[0121] For example, when at least one of the high-voltage power supply 710 and the second power converter 760 and the low-voltage power supply 750 is in a failure state, the main system 775 can operate by receiving an operating voltage charged to the main uninterruptible power supply 770.

[0122] As another example, depending on the magnitude of the operating voltage applied to the main uninterruptible power supply 770, the voltage can be increased and supplied to the main system 775, or the voltage can be reduced and supplied to the main system 775.

[0123] In addition, when the main system 775 fails, the sub system 785 operates by receiving an operating voltage from any one of the second power converter 760, which is a converter, and the low-voltage power supply 750.

[0124] For example, when at least one of the high-voltage power supply 710 and the second power converter 760 and the low-voltage power supply 750 and the main system 775 is in a failure state, the sub system 785 can operate by receiving an operating voltage charged to the sub uninterruptible power supply 780.

[0125] As another example, depending on the magnitude of the operating voltage applied to the sub uninterruptible power supply 780, the voltage can be increased and supplied to the sub system 785, or the voltage can be reduced and supplied to the sub system 785.

[0126] Each of the main uninterruptible power supply 770 and the sub uninterruptible power supply 780 of the present disclosure includes a blocking circuit. The blocking circuit can include an electronic fuse circuit or a switching circuit. The blocking circuit can also be an electronic fuse circuit including a switching element. Even in the case where the main system 775 or the sub system 785 is short-circuited through the blocking circuit, power leakage can be prevented by circuit blocking.

[0127] As described with reference to Figure 3 a specific operation is applied according to the failure of each device in the vehicle 700. Therefore, in order to avoid redundant explanation, it is omitted here.

[0128] In this manner, the vehicle 700 according to the present disclosure can provide cost saving effects as well as voltage boosting and overvoltage prevention effects according to driving conditions through an efficient steer-by-wire steering device and power supply system.

[0129] A steer-by-wire steering device, a power supply system, and a vehicle including the same can provide stable and efficient vehicle steering operations.

[0130] The subject matter and operations described in this specification can be implemented in digital electronic circuit systems or in computer software, firmware or hardware (including the structures disclosed in this specification and their structural equivalents) or in a combination of one or more thereof. The subject matter described in this specification can be implemented as one or more computer programs (e.g., one or more circuits of computer program instructions) encoded on one or more computer storage media for execution by a data processing device or for controlling the operation of a data processing device. Alternatively or additionally, the program instructions can be encoded on an artificially generated propagation signal, for example, a machine-generated electrical, optical or electromagnetic signal, which is generated to encode information for transmission to a suitable receiver device for execution by a data processing device. A computer storage medium can be or be included in a computer-readable storage device, a computer-readable storage substrate, a random or serial access memory array or device, or a combination of one or more thereof. Although a computer storage medium is not a propagation signal, a computer storage medium can be a source or destination of computer program instructions encoded in an artificially generated propagation signal. A computer storage medium can also be or be included in one or more separate components or media (e.g., multiple CDs, disks, or other storage devices). The operations described in this specification can be implemented as operations performed by a data processing apparatus on data stored on one or more computer-readable storage devices or received from other sources.

[0131] The above description has been presented to enable those skilled in the art to make and use the technical ideas of the present disclosure, and has been provided in the context of specific applications and their 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 may be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. The above description and accompanying drawings provide examples of the technical ideas of the present disclosure for illustrative purposes only. That is, the disclosed embodiments are intended to illustrate the scope of the technical ideas of the present disclosure. Therefore, the scope of the present disclosure is not limited to the embodiments shown, but is in accordance with the widest scope consistent with the claims.

[0132] CROSS-REFERENCE TO RELATED APPLICATIONS

[0133] This application claims priority from Korean Patent Application No. 10-2024-0047217 filed on April 8, 2024, and Korean Patent Application No. 10-2025-0011863 filed on January 24, 2025, in the Korean Intellectual Property Office, the disclosures of which are incorporated herein by reference.

Claims

1. A power supply system for supplying power to a steer-by-wire steering device comprising a main system and a subsystem, the power supply system comprising: High voltage power supply; a converter configured to convert a voltage of the high-voltage power supply into an operating voltage; Low voltage power supply; a main uninterruptible power supply configured to receive operating power from the converter and supply the operating power to the main system of the steer-by-wire steering device; as well as a sub-uninterruptible power supply configured to receive the operating power from the converter and supply the operating power to the subsystem of the steer-by-wire steering device, wherein the main uninterruptible power supply comprises a first charging circuit, a first capacitor, and one or more switching elements including a first switching element connected to the first charging circuit, and Wherein, when the vehicle is in a parking operation, the main uninterruptible power supply is configured to turn on the first switching element connected to the first charging circuit to apply a boosted operating voltage to the main system of the steer-by-wire steering device.

2. The power supply system according to claim 1, wherein: The main system of the steer-by-wire steering apparatus includes a steering feedback actuator configured to provide a steering reaction force and a road wheel actuator configured to provide a steering force.

3. The power supply system according to claim 1, wherein: The one or more switching elements further include a second switching element connected to ground, and When at least one of the high-voltage power supply, the converter, and the low-voltage power supply fails, the main uninterruptible power supply is configured to turn on the first switching element connected to the first charging circuit and the second switching element connected to the ground to supply the operating power to the main system of the steer-by-wire steering device for a preset period of time. The power supply system according to claim 1 , wherein: The one or more switching elements further include a third switching element connected to the first capacitor, and When the operating voltage applied to the main system of the steer-by-wire steering device is equal to or greater than a preset value, the main uninterruptible power supply is configured to turn off the first switching element and turn on the third switching element connected to the first capacitor to apply a reduced operating voltage to the main system of the steer-by-wire steering device.

5. The power supply system according to claim 1, wherein: The sub-uninterruptible power supply includes a second charging circuit, a second capacitor, and one or more other switching elements including a fourth switching element connected to the second charging circuit, and When the vehicle is in the parking operation and the main uninterruptible power supply is in a fault state, the sub-uninterruptible power supply is configured to turn on the fourth switching element connected to the second charging circuit to apply a boosted operating voltage to the subsystem of the steer-by-wire steering device. The power supply system according to claim 5 , wherein: The one or more other switching elements further include a fifth switching element connected to the second capacitor, and When the operating voltage applied to the subsystem of the steer-by-wire steering device is equal to or greater than a preset value, the sub-uninterruptible power supply is configured to turn off the fourth switching element and turn on the fifth switching element connected to the second capacitor to apply a reduced operating voltage to the subsystem of the steer-by-wire steering device.

7. The power supply system according to claim 1, wherein: The primary uninterruptible power supply includes a blocking circuit configured to interrupt current flowing through the primary uninterruptible power supply.

8. A steer-by-wire steering device, comprising: a primary system comprising a first steering feedback actuator configured to provide a steering reaction force and a first road wheel actuator configured to provide a steering force; as well as a subsystem comprising a second steering feedback actuator configured to provide the steering reaction force and a second road wheel actuator configured to provide the steering force, wherein the main system is configured to receive an operating voltage from one of a converter and a main uninterruptible power supply, the main uninterruptible power supply comprising a first charging circuit, a first capacitor, and one or more switching elements including a first switching element connected to the first charging circuit, and Wherein, when the vehicle is in a parking operation, the first switching element connected to the first charging circuit is configured to be turned on to receive the boosted operating voltage.

9. The steer-by-wire steering device according to claim 8, wherein: The one or more switching elements further include a second switching element connected to ground, and When at least one of the converter, the low-voltage power supply, and the high-voltage power supply connected to the converter fails, the main system is configured to turn on the first switching element connected to the first charging circuit and the second switching element connected to the ground to receive operating power for a preset period of time.

10. The steer-by-wire steering device according to claim 8, wherein: The one or more switching elements further include a third switching element connected to the first capacitor, and When the operating voltage applied to the main system is equal to or greater than a preset value, the main system is configured to turn off the first switching element and turn on the third switching element connected to the first capacitor to receive a reduced operating voltage.

11. The steer-by-wire steering device according to claim 8, wherein: The sub-uninterruptible power supply includes a second charging circuit, a second capacitor, and one or more other switching elements including a fourth switching element connected to the second charging circuit, and When the vehicle is in the parking operation and the main uninterruptible power supply is in a fault state, the subsystem is configured to turn on the fourth switching element connected to the second charging circuit to receive a boosted operating voltage.

12. The steer-by-wire steering device according to claim 11, wherein: The one or more other switching elements further include a fifth switching element connected to the second capacitor, and When the operating voltage applied to the subsystem is equal to or greater than a preset value, the subsystem is configured to turn off the fourth switching element and turn on the fifth switching element connected to the second capacitor to receive a reduced operating voltage.

13. The steer-by-wire steering device according to claim 8, wherein: The primary uninterruptible power supply includes a blocking circuit configured to interrupt current flowing through the primary uninterruptible power supply.

14. A vehicle, comprising: High voltage power supply; a motor configured to receive power from the high voltage power source and apply a force to the vehicle; a converter configured to convert a voltage of the high-voltage power supply into an operating voltage; Low voltage power supply; A steer-by-wire steering device, the steer-by-wire steering device comprising a main system and a subsystem; a main uninterruptible power supply configured to receive operating power from the converter and supply the operating power to the main system of the steer-by-wire steering device; as well as a sub-uninterruptible power supply configured to receive the operating power from the converter and supply the operating power to the subsystem of the steer-by-wire steering device, wherein the main uninterruptible power supply comprises a first charging circuit, a first capacitor, and one or more switching elements including a first switching element connected to the first charging circuit, and Wherein, when the vehicle is in a parking operation, the main uninterruptible power supply is configured to turn on the first switching element connected to the first charging circuit to apply a boosted operating voltage to the main system of the steer-by-wire steering device.

15. The vehicle of claim 14, wherein: The main system of the steer-by-wire steering apparatus includes a steering feedback actuator configured to provide a steering reaction force and a road wheel actuator configured to provide a steering force.

16. The vehicle of claim 14, wherein: The one or more switching elements further include a second switching element connected to ground, and When at least one of the high-voltage power supply, the converter, and the low-voltage power supply fails, the main uninterruptible power supply is configured to turn on the first switching element connected to the first charging circuit and the second switching element connected to the ground to supply the operating power to the main system of the steer-by-wire steering device for a preset period of time.

17. The vehicle of claim 14, wherein: The one or more switching elements further include a third switching element connected to the first capacitor, and When the operating voltage applied to the main system of the steer-by-wire steering device is equal to or greater than a preset value, the main uninterruptible power supply is configured to turn off the first switching element and turn on the third switching element connected to the first capacitor to apply a reduced operating voltage to the main system of the steer-by-wire steering device.

18. The vehicle of claim 14, wherein: The sub-uninterruptible power supply includes a second charging circuit, a second capacitor, and one or more other switching elements including a fourth switching element connected to the second charging circuit, and When the vehicle is in the parking operation and the main uninterruptible power supply is in a fault state, the sub-uninterruptible power supply is configured to turn on the fourth switching element connected to the second charging circuit to apply a boosted operating voltage to the subsystem of the steer-by-wire steering device.

19. The vehicle of claim 18, wherein: The one or more other switching elements further include a fifth switching element connected to the second capacitor, and When the operating voltage applied to the subsystem of the steer-by-wire steering device is equal to or greater than a preset value, the sub-uninterruptible power supply is configured to turn off the fourth switching element and turn on the fifth switching element connected to the second capacitor to apply a reduced operating voltage to the subsystem of the steer-by-wire steering device.

20. The vehicle of claim 14, wherein: The primary uninterruptible power supply includes a blocking circuit configured to interrupt current flowing through the primary uninterruptible power supply.

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