Motor position sensor error compensation apparatus and method and vehicle control device

Abstract

The present application relates to motor position sensor error compensation apparatus and methods and vehicle control devices. A motor position sensor error compensation apparatus includes a controller configured to control a steering motor to move to a first motor position, a sensor configured to detect a second motor position of the steering motor by a motor position sensor, and one or more processors configured to determine a position error between the first motor position and the second motor position and determine a compensation angle for the second motor position based on the position error.

Description

Technical Field

[0001] This embodiment relates to a motor position sensor error compensation device and method. Background Technology

[0002] In typical electric power steering (EPS) systems, over 90% utilize permanent magnet synchronous motors (PMSMs). Due to the characteristics of PMSMs, accurately identifying the rotor's position is crucial for precisely and efficiently driving the motor. This can be achieved using a motor position sensor (MPS) or sensorless algorithms to estimate the rotor's position and execute control.

[0003] In the case of EPS systems, rapid forward / reverse switching is required, and steering feel and responsiveness are also crucial factors. Therefore, control methods that include motor position sensors are primarily employed. Specifically, in steer-by-wire (SbW) systems, where the rack position is directly determined by the motor based on the steering wheel angle, accurate detection of the rotor position may be even more critical for system performance and safety.

[0004] Furthermore, due to MPS secondary torque fluctuations generated in the mechanical configuration, electronic systems may produce noise and vibration, which can lead to a deterioration in system performance. For example, in the chassis, secondary noise and vibration characteristics can cause vehicle bumps. This issue can not only negatively impact the user's steering feel but also reduce the overall driving experience.

[0005] Therefore, in order to improve performance and ensure the reliability of EPS and SbW systems, it is necessary to develop technologies to accurately detect the rotor position and minimize noise and vibration caused by torque fluctuations. Summary of the Invention

[0006] Against this background, this disclosure attempts to provide a technique for compensating for information detected by a motor position sensor (MPS).

[0007] To address the aforementioned problems, in one aspect, this disclosure provides a motor position sensor error compensation device, the device comprising: a controller configured to control a steering motor to move to a first motor position; a motor position sensor configured to detect a second motor position of the steering motor; and one or more processors configured to determine a position error between the controlled first motor position and the detected second motor position, and to determine a compensation angle for the detected second motor position based on the position error between the controlled first motor position and the detected second motor position.

[0008] In another aspect, this disclosure provides a motor position sensor error compensation method, the method comprising the following steps: controlling a steering motor to move to a first motor position; detecting a second motor position of the steering motor by a motor position sensor; determining a position error between the controlled first motor position and the detected second motor position, and determining a compensation angle for the detected second motor position based on the position error between the controlled first motor position and the detected second motor position.

[0009] In another aspect, this disclosure provides a vehicle control device, the vehicle control device comprising: a memory configured to store instructions; and at least one processor configured to operate to execute the instructions to: control a steering motor to move to a first motor position, detect a second motor position of the steering motor via a motor position sensor, determine a position error between the controlled first motor position and the detected second motor position, and determine a compensation angle for the detected second motor position based on the position error between the controlled first motor position and the detected second motor position.

[0010] According to this disclosure, installation errors of MPS can be compensated.

[0011] The effects of this disclosure are not limited to those described above, and other effects not mentioned above will be clearly understood by those skilled in the art from the following description.

[0012] The purpose of this disclosure, the means for achieving these purposes, and the effects of the above disclosure do not specify the essential features of the claims; therefore, the scope of the claims is not limited to the disclosure of this disclosure. Attached Figure Description

[0013] The above and other aspects, features and advantages of this disclosure will be more clearly understood from the following detailed description taken in conjunction with the accompanying drawings, in which:

[0014] Figure 1 This is a block diagram that briefly illustrates a motor position sensor error compensation device according to one embodiment of the present disclosure;

[0015] Figure 2 This is a graph showing the FFT results of the angular error component of the current before compensation according to one embodiment.

[0016] Figure 3A This is a graph showing the angular error determined by the motor position under a current of 10A according to one embodiment;

[0017] Figure 3BThis is a graph showing the angular error determined by the motor position under a current of 30A according to one embodiment;

[0018] Figure 4 This is a graph showing the FFT results of each position error component of the current after applying a compensation angle, according to one embodiment.

[0019] Figure 5A This is a diagram showing the angle error determined by the motor position at a current of 10A under one embodiment, by distinguishing whether a compensation angle is applied.

[0020] Figure 5B This is a diagram showing the angle error determined by the motor position at a current of 30A under one embodiment, by distinguishing whether a compensation angle is applied.

[0021] Figure 6 This is a diagram illustrating the torque waveform according to one embodiment, distinguishing whether a compensation angle is applied.

[0022] Figure 7 This is a graph showing the torque FFT results according to one embodiment, distinguishing whether a compensation angle is applied.

[0023] Figure 8 This is a diagram showing the result of applying a compensation angle to the position of a second motor according to one embodiment;

[0024] Figure 9 This is a block diagram of a motor position sensor error compensation device according to another embodiment of the present disclosure;

[0025] Figure 10 This is a flowchart illustrating a motor position sensor error compensation method according to an embodiment of the present disclosure; and

[0026] Figure 11 This is a diagram used to illustrate step S1030 according to the embodiment in more detail. Detailed Implementation

[0027] In the following description of examples or embodiments of this disclosure, reference will be made to the accompanying drawings, which illustrate specific examples or embodiments that may be implemented, and in the drawings, the same reference numerals and symbols may be used to designate the same or similar components, even if they are shown in different drawings. Furthermore, in the following description of examples or embodiments of this disclosure, detailed descriptions of well-known functions and components incorporated herein will be omitted where it is determined that the description may make the subject matter of some embodiments of this disclosure considerably unclear. Terms such as “comprising,” “having,” “including,” “constituting,” “forming,” and “formed from” as used herein are generally intended to allow for the addition of additional components, unless these terms are used in conjunction with the term “only.” As used herein, singular forms are intended to include plural forms unless the context clearly indicates otherwise.

[0028] Terms such as “first,” “second,” “A,” “B,” “(A),” or “(B)” are used herein to describe elements of this disclosure. Each of these terms is not used to define the nature, order, sequence, or number of elements, but only to distinguish the corresponding element from other elements.

[0029] When referring to the first element being "connected or joined" or "in contact or overlapping" with the second element, it should be interpreted as meaning that not only can the first element be "directly connected or joined" or "in contact or overlapping" with the second element, but a third element can also be "inserted" between the first and second elements, or the first and second elements can be "connected or joined," "in contact or overlapping," etc., with each other via a fourth element. Here, the second element can be included in at least one of two or more elements that are "connected or joined," "in contact or overlapping," etc., with each other.

[0030] When time-relative terms such as “after,” “following,” “next,” “before,” etc., are used to describe the process or operation of an element or configuration, or the flow or steps in an operation, treatment, or manufacturing method, these terms may be used to describe a discontinuous or non-sequential process or operation, unless the terms “directly” or “immediately after” are used together.

[0031] Furthermore, when referring to any size, relative size, etc., it should be assumed that the numerical or corresponding information of a component or feature (e.g., height, range, etc.) includes tolerances or error ranges that can be caused by various factors (e.g., process factors, internal or external influences, noise, etc.), even when no relevant description is specified. In addition, the term "may" fully encompasses all the meanings of the term "capable of".

[0032] The motor position sensor error compensation device of this disclosure will be described below with reference to the accompanying drawings.

[0033] Figure 1This is a block diagram that briefly illustrates a motor position sensor error compensation device 10 according to one embodiment of the present disclosure.

[0034] refer to Figure 1 The motor position sensor error compensation device 10 disclosed herein may include a controller 110, a motor position sensor 120, and one or more processors 130.

[0035] This disclosure may include: a controller 110 that controls a steering motor to move to a first motor position; a motor position sensor 120 that detects a second motor position of the steering motor; and one or more processors 130 configured to determine a position error between the controlled first motor position and the detected second motor position, and to determine a compensation angle for the detected second motor position based on the position error between the controlled first motor position and the detected second motor position.

[0036] In one embodiment, the motor position sensor error compensation device 10 may be an advanced driver assistance system (ADAS) that provides information to assist driving the host vehicle or to assist the driver in controlling the host vehicle. In another embodiment, the motor position sensor error compensation device 10 may be a motor applied to an electromechanical brake (EMB).

[0037] The controller 110 can control the steering motor to move to the first motor position. Here, the motor position can refer to the position of the rotor included in the steering motor.

[0038] In one implementation, the steering motor may be a motor that provides auxiliary torque to the steering wheel in an electric power steering (EPS) system, and may be a motor that provides counter-torque to the driver in a steer-by-wire (SbW) system or moves a rack linked to the wheels to change the vehicle's direction of travel. The controller 110 may output control current depending on the purpose of moving the steering motor to a specific angle or forcibly aligning the steering motor.

[0039] The motor position sensor 120 can detect the position of the second motor of the steering motor. Due to various reasons, the MPS may have errors in motor position. For example, due to the nonlinearity of sensor sensitivity, the sensitivity of the magnetic sensor used in the MPS may not change linearly with the magnetic field strength. The sensitivity may be high within a certain range of magnetic field strength and low within another, which may lead to a nonlinear output. As another example, angular errors may occur in the mechanical second component when the center of the rotor does not coincide with the magnetic disk attached to the rotor for rotor position detection (eccentricity). Angular errors cause fluctuations in the mechanical second torque when the motor is driven, and these torque fluctuations in the second component may cause vibration and noise in the load system, which may degrade the performance of the entire system.

[0040] Therefore, the position of the second motor detected by MPS needs to be compensated, and in this disclosure, the rotor is forced to align to obtain a first position as the actual motor position, and the position error can be determined by comparing the first position with the second motor position.

[0041] One or more processors 130 can determine the position error between the controlled first motor position and the detected second motor position, and determine a compensation angle for the detected second motor position based on the position error between the controlled first motor position and the detected second motor position.

[0042] In one implementation, one or more processors 130 may add a signal opposite to the position error to the compensation angle. Specifically, one or more processors 130 may perform a Fast Fourier Transform (FFT) on the position error and add the phase as the result of the FFT to the compensation angle. For example, if the magnitude of the position error is determined to be 0.71 degrees and the phase is determined to be 271 degrees, the compensation angle is represented as a magnitude of 0.71 degrees and a phase of 91 degrees (the error inverse signal), and this compensation angle can be expressed as the following mathematical expression 1.

[0043] [Mathematical Expression 1]

[0044]

[0045] When one or more processors 130 determine the position error, they can add a reference angle to the first motor position and obtain the position error between the calculated multiple first motor positions and the calculated multiple second motor positions. For example, one or more processors 130 can start from 0 degrees of the first motor position and determine the position error between the first motor position and the second motor position. Then, one or more processors 130 can add 1 degree as a reference angle to the first motor position and determine the position error between the first motor position moved by 1 degree by the controller 110 and the second motor position as a result of the motor position detection of the steering motor moved to the first motor position. In this case, the reference angle can be any angle equal to or less than 22.5 degrees, instead of 1 degree, depending on the system. As described above, one or more processors 130 can determine and store the position error between the multiple first motor positions and the multiple second motor positions.

[0046] By utilizing multiple position errors, one or more processors 130 can generate a compensation table including multiple compensation angles based on the position of the first motor. Specifically, one or more processors 130 can perform an FFT on the multiple position errors to determine the compensation angles and generate a table storing the multiple compensation angles to be applied to the position of the first motor.

[0047] When the compensation angle corresponding to the detected second motor position is not included in the compensation table, one or more processors 130 can determine the compensation angle of the detected second motor position by using interpolation techniques. One or more processors 130 can use any of the following: linear interpolation, polynomial interpolation, spline interpolation, and nearest neighbor interpolation.

[0048] For example, one or more processors 130 can determine compensation angles that are not in the compensation table by using linear interpolation techniques and by using the following mathematical expression 2.

[0049] [Mathematical Expression 2]

[0050]

[0051] Here, x1 and x2 are adjacent to the second motor position x without compensation angle and the second motor position with compensation angle, and y1 and y2 can represent the compensation angles of x1 and x2, respectively.

[0052] In other words, given two points (x1, y1) and (x2, y2), one or more processors 130 can determine the y value corresponding to x between x1 and x2.

[0053] Additionally, one or more processors 130 can determine the average value of each determined compensation angle from a plurality of position errors and apply the average value to the position of the second motor.

[0054] Therefore, this disclosure allows for the rapid application of a compensation angle to the second motor position detected by the motor position sensor 120.

[0055] Furthermore, this disclosure can reduce torque fluctuations by determining and applying a compensation angle at the second motor position to ensure linearity between the actual motor position and the detected motor position.

[0056] Figure 2 This is a graph showing the FFT results of the angular error component of the current before compensation, according to one embodiment.

[0057] refer to Figure 2 It can be confirmed that the angular error component is unaffected by its current magnitude in the second harmonic. Furthermore, it can be confirmed that the current magnitude is affected by the angular error in the 24th and 48th harmonics, indicating the possible presence of cogging torque. It can be confirmed that the angular error occurring in the 24th and 48th harmonics is a component due to the positional error between the actual motor position and the motor position detected by the MPS.

[0058] Figure 3AThis is a graph showing the angular error determined by the motor position under a current of 10A according to one embodiment, and... Figure 3B This is a graph showing the angular error determined by the motor position under a current of 30A according to one embodiment.

[0059] refer to Figure 3A and Figure 3B , Figure 3A and Figure 3B This shows how the motor's angular error changes under specific current conditions. Figure 3A and Figure 3B The angle error is shown to show a repeating pattern from 0 degrees to 360 degrees, and a periodic waveform appears.

[0060] Specifically, in the repeating pattern, the angular error is shown to fluctuate periodically as the steering motor angle increases, confirming a mechanical or electrical inconsistency depending on the motor's rotational position. Furthermore, in the amplitude variation, the width of the angular error increases or decreases at specific angles of the motor, confirming the possibility of MPS error or system asymmetry at those specific angles. Moreover, since the periodic variability differs in the repeating pattern, the possibility of analyzing the frequency components using Fast Fourier Transform (FFT) can be confirmed. Additionally, it can be confirmed that the angular error occurs regardless of its current magnitude.

[0061] Figure 4 This is a graph showing the FFT results of each position error component of the current after applying a compensation angle, according to one embodiment.

[0062] Figure 5A This is a graph illustrating the angle error determined by the motor position at a current of 10A under one embodiment, by distinguishing whether a compensation angle is applied. Figure 5B This is a diagram showing the angle error determined by the motor position at a current of 30A under one embodiment, by distinguishing whether a compensation angle is applied.

[0063] refer to Figure 4 When the compensation angle is applied to the second motor position, it can be confirmed that the magnitude of the mechanical second-order angle error component in the second harmonic is reduced (0.71 degrees > 0.10 degrees, a reduction of 86%). Furthermore, it can be confirmed that the reduction in the size of the angle error component is observed at all currents (10A, 15A, 20A, 25A, and 30A).

[0064] refer to Figure 5A and Figure 5BIt can be confirmed that the angle error before applying the compensation angle (Comp_Off) is greater than the angle error after applying the compensation angle (Comp_On), and the magnitude is not constant but fluctuates periodically. Furthermore, it can be confirmed that the error magnitude is smaller and the fluctuation decreases after applying the compensation angle (Comp_On). Therefore, it can be confirmed that the steering motor exhibits more consistent performance after applying the compensation angle.

[0065] In addition, Figure 5A and Figure 5B In this study, it can be confirmed that after applying the compensation angle (Comp_On), the angle error will be reduced overall regardless of the current.

[0066] Figure 6 This is a diagram illustrating the torque waveform according to one embodiment, distinguishing between whether a compensation angle is applied. Figure 7 This is a graph showing the torque FFT results according to one embodiment, distinguishing whether a compensation angle is applied.

[0067] refer to Figure 6 and Figure 7 It can be confirmed that with a d-axis current of 30A and a q-axis current of 15A applied to the steering motor, the magnitude of the second harmonic torque ripple decreases by 81% from 11.3 mNm to 2.2 mNm. In other words, it can be confirmed that the torque waveform, depending on the motor position, exhibits reduced variability and lower amplitude uniformity after the compensation angle is applied (Comp_On) compared to before the compensation angle is applied (Comp_Off).

[0068] Figure 8 This is a diagram showing the result of applying a compensation angle to the position of the second motor according to one embodiment.

[0069] refer to Figure 8 One or more processors 130 can determine the final angle (Final_Angle) to be used for control by adding a compensation angle (Comp_Angle) to the second motor position (MPS_Angle) detected by the MPS. Based on the above, the motor position sensor error compensation device 10 of this disclosure can ensure linearity between the first motor position and the second motor position by applying a compensation angle to the nonlinearity occurring in the MPS.

[0070] One or more processors 130 may use spline curves to set a motor position curve based on a plurality of second motor positions corresponding to a plurality of first motor positions, and determine a compensation angle such that the motor position curve has a first motor position value.

[0071] Spline curves are a mathematical method for generating curves that smoothly connect multiple points. Spline curves primarily use multidimensional polynomials to form curves in each segment, and therefore, the curves can maintain continuity and smoothness at each point.

[0072] One or more processors 130 can determine the compensation angle (Comp_Angle) between the second motor position and the value of the second motor position by setting the motor position curve (MPS_Angle) using a spline curve.

[0073] Figure 9 This is a block diagram of a motor position sensor error compensation device according to another embodiment of the present disclosure.

[0074] In one embodiment, the motor position sensor error compensation device 10 can be implemented as an electronic control unit (ECU). (See reference...) Figure 9 The computer system 900 (such as the motor position sensor error compensation device 10) may include at least one or more components of one or more processors 910, a memory 920, a storage device 930, a user interface input 940, and a user interface output 950, which can communicate with each other via a bus 960. Furthermore, the computer system 900 may also include a network interface 970 for connecting to a network. The processor 910 may be a CPU or a semiconductor device that executes processing instructions stored in the memory 920 and / or storage device 930. The memory 920 and storage device 930 may include various types of volatile / non-volatile storage media. For example, the memory may include ROM 924 and RAM 925.

[0075] The following describes a motor position sensor error compensation method using the motor position sensor error compensation device 10 capable of performing all of the above-described present disclosure.

[0076] Figure 10 This is a flowchart illustrating a motor position sensor error compensation method according to one embodiment of the present disclosure.

[0077] refer to Figure 10 The method may include controlling the steering motor to move to a first motor position (S1010), detecting a second motor position of the steering motor via a motor position sensor (S1020), and determining the position error between the controlled first motor position and the detected second motor position, and determining a compensation angle for the detected second motor position based on the position error between the controlled first motor position and the detected second motor position (S1030). Here, the motor position may refer to the position of the rotor. That is, the rotor, which is one of the components of the steering motor, can be controlled to move to the first motor position.

[0078] The determination of the position error between the controlled first motor position and the detected second motor position includes obtaining a plurality of calculated position errors between a plurality of calculated first motor positions and a plurality of calculated second motor positions, which are calculated by repeatedly adding reference angles to the controlled first motor position. Therefore, S1010 and S1020 can be repeated until the first motor position reaches a target point (e.g., 360 degrees), and thus, in S1030, a plurality of position errors can be determined and stored.

[0079] The process of determining the compensation angle includes generating a compensation table containing multiple compensation angles based on the calculated positions of multiple second motors, and outputting the compensation angle corresponding to the detected positions of the second motors. Here, the compensation table may include multiple positions of the first motors and their corresponding compensation angles.

[0080] When determining the compensation angle, if the compensation angle corresponding to the detected second motor position is not included in the compensation table, interpolation is used to determine the compensation angle for the detected second motor position. For example, linear interpolation can be used to determine the compensation angle for the second motor position where no compensation angle exists.

[0081] The determination of the compensation angle includes, in the compensation step, setting a motor position curve using spline curves based on multiple calculated second motor positions corresponding to multiple calculated first motor positions, and using the motor position curves to determine the compensation angle of the detected second motor positions.

[0082] The compensation angle determination process includes determining the compensation angle for the detected second motor position based on the average of multiple position errors.

[0083] Determining the compensation angle involves performing a Fast Fourier Transform (FFT) on the determined position error between the controlled first motor position and the detected second motor position, and adding the result of the FFT to the determined compensation angle. Furthermore, the compensation angle can be determined using a signal opposite to the determined error angle. For example, if the FFT result of the position error is determined to be 0.71 degrees in magnitude and 271 degrees in phase, the compensation angle can be determined to be 0.71 degrees in magnitude and 91 degrees in phase.

[0084] Figure 11 The figure illustrates step S1030 in more detail according to one embodiment.

[0085] refer to Figure 11 The motor position sensor error compensation device 10 can determine whether the position of the first motor is less than 360 degrees (S1110). Here, the target point of 360 degrees for the position of the first motor is an example, so different angles can be set.

[0086] When the position of the first motor is less than 360 degrees (Yes in S1110), the motor position sensor error compensation device 10 can forcibly align the rotor to the position of the first motor (S1120). Therefore, the motor position sensor error compensation device 10 can obtain the first motor position as the actual position of the steering motor and the second motor position detected by the MPS.

[0087] The motor position sensor error compensation device 10 can store the position error of each forced alignment position (S1130). The motor position sensor error compensation device 10 can determine the position error between the first motor position and the second motor position and store the result.

[0088] The motor position sensor error compensation device 10 can add a reference angle to the first motor position (S1140). For example, the reference angle can be set to 1 degree.

[0089] When the position of the first motor is 360 degrees or greater (No in S1110), the motor position sensor error compensation device 10 can perform FFT on multiple position errors and determine the FFT result as the compensation angle (S1150).

[0090] The motor position sensor error compensation device 10 can compensate the angle to the position of the second motor (S1160).

[0091] As described above, according to this disclosure, the motor position sensor error compensation device and method can compensate for the installation error of the MPS without using a separate testing / verification device.

[0092] In addition, this disclosure can reduce the noise and vibration of the secondary components of the MPS machine by compensating for the error of the MPS and reducing the secondary torque fluctuation of the MPS machine.

[0093] Meanwhile, the object recognition device and / or object recognition method according to this disclosure can be implemented by a vehicle control device.

[0094] For example, a vehicle control unit may include at least one memory containing computer program instructions and at least one processor that executes the computer program instructions. The vehicle control unit may be an electronic control unit that includes semiconductor devices such as an ECU or MCU.

[0095] Here, at least one processor can control the steering motor to move to the first motor position, detect the second motor position of the steering motor through the motor position sensor (MPS), determine the position error between the first motor position and the second motor position, and determine the compensation angle of the second motor position based on the position error.

[0096] In addition, at least one processor can add a reference angle to the first motor position if the position error is determined, and can obtain multiple position errors between multiple first motor positions and multiple second motor positions.

[0097] In addition, at least one processor can generate a compensation table including compensation angles based on the position of the second motor, and output the compensation angle corresponding to the input position of the second motor.

[0098] In addition, if the compensation angle corresponding to the position of the second motor is not in the compensation table, at least one processor can determine the compensation angle by using interpolation techniques.

[0099] In addition, at least one processor can use spline curves to set a motor position curve based on multiple second motor positions corresponding to multiple first motor positions, and determine a compensation angle such that the motor position curve has a first motor position value.

[0100] In addition, at least one processor can perform a Fast Fourier Transform (FFT) on the position error and add the result of the FFT to the compensation angle.

[0101] In addition, at least one processor can determine the compensation angle based on the average of multiple position errors.

[0102] The aforementioned vehicle control device or motor position sensor error compensation device can be implemented by a computing system.

[0103] In other words, the computing system includes at least one processor to execute computer-readable instructions contained in memory, and at least one processor is capable of performing operations to compensate for errors in the motor position sensor.

[0104] This operation can be the operation of the aforementioned vehicle control device or the operation of the motor position sensor error compensation device and method.

[0105] In addition, a computing system may also include ROM, storage devices, etc., and can send and receive information with the processor, as well as external displays and input devices, via a bus.

[0106] The aforementioned memory can be interpreted as main memory, ROM, and storage devices. The computing system can be configured in a vehicle or as an external device such as a server.

[0107] A computer system or computing device may include or be used to implement a system or components thereof, such as a data processing system. A computing system includes a bus or other communication components for transmitting information and a processor or processing circuitry connected to the bus for processing information. A computing system may also include one or more processors or processing circuitry connected to the bus for processing information. A computing system also includes main memory, such as random access memory (RAM) or other dynamic storage devices, connected to the bus for storing information and instructions to be executed by the processor. Main memory may be or include a data repository. Main memory may also be used to store location information, temporary variables, or other intermediate information during processor instruction execution. A computing system may also include read-only memory (ROM) or other static storage devices connected to the bus for storing static information and instructions for the processor. Storage devices such as solid-state devices, disks, or optical disks may be connected to the bus to persistently store information and instructions. Storage devices may include a data repository or a portion thereof.

[0108] The computing system can be connected to a display, such as a liquid crystal display (LCD) or an active matrix display, via a bus to display information to the user. Input devices, such as a keyboard including alphanumeric keys and other keys, can be connected to the bus to transmit information and command selections to the processor. Input devices may include touchscreen displays. Input devices may also include cursor controls, such as a mouse, trackball, or arrow keys, to transmit directional information and command selections to the processor and to control cursor movement on the display. The display may be part of a data processing system, client computing device, or other component.

[0109] The processes, systems, and methods described herein can be implemented by a computing system in response to an arrangement of instructions contained in main memory executed by a processor. Such instructions may be read into main memory from another computer-readable medium, such as a storage device. Execution of the instruction arrangement contained in main memory causes the computing system to perform the illustrative processes described herein. One or more processors in a multiprocessing arrangement may also be used to execute the instructions contained in main memory. Hardwired circuitry may be used in place of or in combination with software instructions in the systems and methods described herein. The systems and methods described herein are not limited to any particular combination of hardware circuitry and software.

[0110] Although an example computing system has been described, the subject matter including the operations described in this specification can be implemented in other types of digital electronic circuits, or in computer software, firmware, or hardware, including the structures disclosed in this specification and their structural equivalents, or combinations thereof.

[0111] The terms "data processing system," "computing device," "component," or "data processing apparatus" encompass a variety of means, devices, and machines for processing data, including, for example, programmable processors, computers, systems-on-a-chip, or combinations thereof. The apparatus may include special-purpose logic circuitry, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits). In addition to hardware, the apparatus may also include code that creates an execution environment for the computer program in question, such as code constituting processor firmware, protocol stacks, database management systems, operating systems, cross-platform runtime environments, virtual machines, or combinations thereof. The apparatus and execution environment can implement a variety of different computing model infrastructures, such as web services, distributed computing, and grid computing infrastructures. Components of a system may include or share one or more data processing apparatuses, systems, computing devices, or processors.

[0112] Computer programs (also known as programs, software, software applications, apps, scripts, or code) can be written in any programming language, including compiled or interpreted languages, declarative or procedural languages, and can be deployed in any form, including as standalone programs or as modules, components, subroutines, objects, or other units suitable for use in a computing environment. A computer program may correspond to a file in a file system. A computer program may be stored as a part of a file that holds other programs or data (e.g., one or more scripts stored in a markup language document), in a single file dedicated to the program in question, or in multiple coordinating files (e.g., a file storing one or more modules, subroutines, or code sections). A computer program can be deployed to execute on a single computer or on multiple computers located at a site or distributed across multiple sites and interconnected via a communication network.

[0113] The processes and logic flows described in this specification can be executed by one or more programmable processors that execute one or more computer programs (e.g., components of a data processing system) to perform actions by manipulating input data and generating outputs. The processes and logic flows can also be executed by dedicated logic circuitry, and the apparatus can be implemented as dedicated logic circuitry, such as FPGAs (Field-Programmable Gate Arrays) or ASICs (Application-Specific Integrated Circuits). Suitable devices for storing computer program instructions and data include all forms of non-volatile memory, media, and memory devices, including, for example, semiconductor memory devices such as EPROMs, EEPROMs, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD-ROMs and DVD-ROMs. Processors and memory can be supplemented by or incorporated into dedicated logic circuitry.

[0114] The above description has been presented to enable any person skilled in the art to make and use the technical ideas of this disclosure, and has been provided in the context of a particular application and its requirements. Various modifications, additions, and substitutions to the described embodiments will be apparent to those skilled in the art, and the general principles defined herein can be applied to other embodiments and applications without departing from the spirit and scope of this disclosure. The above description and drawings provide examples of the technical ideas of this disclosure for illustrative purposes only. That is, the disclosed embodiments are intended to illustrate the scope of the technical ideas of this disclosure. Therefore, the scope of this disclosure is not limited to the embodiments shown, but is consistent with the widest scope consistent with the claims.

[0115] Cross-references to related applications

[0116] This application claims priority to Korean Patent Application No. 10-2025-0011721, filed on January 24, 2025, with the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.

Claims

1. A motor position sensor error compensation device, the motor position sensor error compensation device comprising: Controller, the controller being configured to control the steering motor to move to the first motor position; A motor position sensor, configured to detect the position of a second motor of the steering motor; as well as One or more processors are configured to determine a position error between a controlled first motor position and a detected second motor position, and to determine a compensation angle for the detected second motor position based on the position error between the controlled first motor position and the detected second motor position.

2. The motor position sensor error compensation device according to claim 1, wherein, The one or more processors are configured to obtain a plurality of calculated position errors between a plurality of calculated first motor positions and a plurality of calculated second motor positions calculated by repeatedly adding reference angles to the controlled first motor positions.

3. The motor position sensor error compensation device according to claim 2, wherein, The one or more processors are configured to generate a compensation table including multiple compensation angles based on the calculated positions of the plurality of second motors, and output the compensation angles corresponding to the detected positions of the second motors.

4. The motor position sensor error compensation device according to claim 3, wherein, The one or more processors are configured to determine the compensation angle of the detected second motor position by interpolation when the compensation angle corresponding to the detected second motor position is not included in the compensation table.

5. The motor position sensor error compensation device according to claim 2, wherein, The one or more processors are configured to use spline curves to set motor position curves based on the calculated second motor positions corresponding to the calculated first motor positions, and to use the motor position curves to determine the compensation angle of the detected second motor positions.

6. The motor position sensor error compensation device according to claim 2, wherein, The one or more processors are configured to determine the compensation angle of the detected second motor position based on the average of the plurality of position errors.

7. The motor position sensor error compensation device according to claim 1, wherein, The one or more processors are configured to perform a Fast Fourier Transform (FFT) on the determined position error between the controlled position of the first motor and the detected position of the second motor, and add the result of the FFT to the determined compensation angle.

8. A method for compensating for errors in a motor position sensor, the method comprising the following steps: Control the steering motor to move to the first motor position; The position of the second motor of the steering motor is detected by a motor position sensor; as well as The position error between the controlled first motor position and the detected second motor position is determined, and a compensation angle for the detected second motor position is determined based on the position error between the controlled first motor position and the detected second motor position.

9. The motor position sensor error compensation method according to claim 8, wherein, The step of determining the position error between the controlled first motor position and the detected second motor position includes: obtaining a plurality of calculated position errors between a plurality of calculated first motor positions and a plurality of calculated second motor positions calculated by repeatedly adding reference angles to the controlled first motor positions.

10. The motor position sensor error compensation method according to claim 9, wherein, The step of determining the compensation angle includes: generating a compensation table including multiple compensation angles based on the calculated multiple second motor positions, and outputting the compensation angle corresponding to the detected second motor positions.

11. The motor position sensor error compensation method according to claim 10, wherein, The step of determining the compensation angle includes: when the compensation angle corresponding to the detected second motor position is not included in the compensation table, determining the compensation angle of the detected second motor position by interpolation.

12. The motor position sensor error compensation method according to claim 9, wherein, The step of determining the compensation angle includes: setting a motor position curve using spline curves based on the calculated plurality of second motor positions corresponding to the calculated plurality of first motor positions, and using the motor position curves to determine the compensation angle of the detected second motor position.

13. The motor position sensor error compensation method according to claim 9, wherein, The step of determining the compensation angle includes: determining the compensation angle of the detected second motor position based on the average value of the plurality of position errors.

14. The motor position sensor error compensation method according to claim 8, wherein, The step of determining the compensation angle includes: performing a Fast Fourier Transform (FFT) on the determined position error between the controlled first motor position and the detected second motor position, and adding the result of the FFT to the determined compensation angle.

15. A vehicle control device, the vehicle control device comprising: Memory, the memory being configured to store instructions; as well as At least one processor, the at least one processor being configured to operate to execute the instructions to: The steering motor is controlled to move to the first motor position, and the second motor position of the steering motor is detected by the motor position sensor. The position error between the controlled first motor position and the detected second motor position is determined, and the compensation angle of the detected second motor position is determined based on the position error between the controlled first motor position and the detected second motor position.

16. The vehicle control device according to claim 15, wherein, The one or more processors are configured to obtain a plurality of calculated position errors between a plurality of calculated first motor positions and a plurality of calculated second motor positions calculated by repeatedly adding reference angles to the controlled first motor positions.

17. The vehicle control device according to claim 16, wherein, The one or more processors are configured to generate a compensation table including multiple compensation angles based on the calculated positions of the plurality of second motors, and output the compensation angles corresponding to the detected positions of the second motors.

18. The vehicle control device according to claim 17, wherein, The one or more processors are configured to determine the compensation angle of the detected second motor position by interpolation when the compensation angle corresponding to the detected second motor position is not included in the compensation table.

19. The vehicle control device according to claim 16, wherein, The one or more processors are configured to use spline curves to set motor position curves based on the calculated second motor positions corresponding to the calculated first motor positions, and to use the motor position curves to determine the compensation angle of the detected second motor positions.

20. The vehicle control device according to claim 15, wherein, The one or more processors are configured to perform a Fast Fourier Transform (FFT) on the determined position error between the controlled position of the first motor and the detected position of the second motor, and add the result of the FFT to the determined compensation angle.

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