STEERING CONTROL DEVICE AND METHOD

Abstract

Steering control device, comprising: a first steering control module (110) and a second steering control module (120), capable of controlling a steering motor (600), wherein the first steering control module (110) comprises a first temperature sensor (111-1) for detecting an internal temperature of the first steering control module (110) and the second steering control module (120) comprises a second temperature sensor (121-1) for detecting an internal temperature of the second steering control module (120), wherein the first steering control module (110) transmits information about a first temperature from the first temperature sensor (111-1) to the second steering control module (120) and the second steering control module (120) receives the information about the first temperature and transmits information about a second temperature from the second temperature sensor (121-1) to the first steering control module (110), and wherein the first steering control module (110) and the second steering control module (120) perform a transition based on the information about the first temperature and the information about the second temperature, and the first steering control module (110) or the second steering control module (120) controls the steering motor (600); characterized by the fact that, If, during the control of the steering motor (600) by the first steering control module (110), the first temperature information is greater than or equal to a second reference value and a tooth position remains at one end of a rack for a predetermined time, the second steering control module (120) enters a master state and controls the steering motor (600), and / or If, during the control of the steering motor (600) by the first steering control module (110), the first temperature information is greater than or equal to a second reference value, and a position of a gear moves back and forth from one end to the other for a predetermined number of times, the second steering control module (120) enters a master status and controls the steering motor (600).

Description

BACKGROUNDArea of ​​Revelation

[0001] The present disclosure relates to a steering control device having the features of the preamble of claim 1 and a steering control method having the features of the preamble of claim 4, and more specifically to a steering control device comprising a first steering control module and a second steering control module, and a steering control method using the steering control device. State of the art

[0002] Power steering systems are commonly used in vehicles as a device for reducing steering effort (grip) and, in turn, improving steering stability. A hydraulic power steering system (HPS) using hydraulic pressure is widely used as such a power steering system. Recently, an electric power steering system (EPS) has been increasingly used in vehicles. Unlike conventional systems that use hydraulic pressure, this system assists a driver's steering effort using the rotational force of an electric motor and is an environmentally friendly system.

[0003] Interest in electric power steering systems has increased from typical systems that utilize a single electronic control unit (ECU) to control a vehicle to electronic power steering systems that incorporate a redundant system for controlling a vehicle's steering by utilizing two or more ECUs. This redundant system can improve steering stability in such a way that if one ECU cannot perform its function due to physical damage, failure, or the like, another ECU can be substituted for the ECU to perform that function.

[0004] In such a redundant system, while one ECU is in use, another ECU serving as a backup ECU is kept in standby mode, so research is already underway on how to use the ECU kept in standby mode.

[0005] From the document DE 10 2019 212 574 A1, a steering device for a vehicle is known, which includes: a first steering control device and a second steering control device that control a steering motor; and a power supply that forms a first output power source and a second output power source based on at least one of a first input power source or a second input power source by controlling a power supply path, wherein, in a case where operating states of the first steering control device and the second steering control device are normal, the power supply forms a first output power source using the first input power source by controlling the power supply path, and the first steering control device controls the steering motor based on the first output power source.The document US 2019 / 0 241 207 A1 relates to steering controllers that are interconnected via an internal communications network. Each of the steering controllers monitors the operating status of another steering controller via the internal communications network, so that the steering motor is controlled by at least one of the remaining steering controllers if one of the steering controllers currently controlling the steering motor is operating abnormally. DEMOLITION

[0006] To address the problem of energy packet instability and thereby overcome limitations for steering motor control, embodiments of the present disclosure provide a steering control apparatus and method according to the independent claims for enabling a first steering device (or module) and a second steering device (or module) to transition and execute corresponding split roles according to their internal temperatures. Advantageous further developments are subject to the dependent claims.

[0007] According to aspects of the present disclosure, a steering control device is provided that includes a first steering control module and a second steering control module. The first and second steering control modules include first and second temperature sensors that detect internal temperatures of the first and second steering control modules, respectively. The first steering control module can transmit information about a first temperature detected by the first temperature sensor to the second steering control module, and the second steering control module can receive the first temperature information and transmit information about a second temperature detected by the second temperature sensor. The first and second steering control modules can transition based on the first temperature and second temperature information, and one of the first steering control module and the second steering control module can control a steering motor.The second steering control module enters a master state and controls the steering motor when, during control of the steering motor by the first steering control module, the first temperature information is greater than or equal to a second reference value and a position of a toothing remains at one end of a rack for a predetermined time, and / or when, during control of the steering motor by the first steering control module, the first temperature information is greater than or equal to a second reference value and a position of a toothing moves back and forth from one end to the other end for a predetermined number of times.

[0008] According to aspects of the present disclosure, a method for steering control is provided, comprising: detecting respective internal temperatures of a first steering control module and a second steering control module, enabling the first steering control module to transmit information about a first temperature, which is an internal temperature of the first steering control module, to the second steering control module and to receive information about a second temperature, which is an internal temperature of the second steering control module, from the second steering control module, and enabling the second steering control module to transmit the information about the second temperature of the first steering control module and to receive the information about the first temperature from the first steering control module, and enabling the first and second steering control modules to make a transition based on information about the first and second temperatures,and the first or second steering control module controls a steering motor. In the transition step, the steering control module enters a master state and controls the steering motor if, during control of the steering motor by the first steering control module, the first temperature information is greater than or equal to a second reference value and a position of a toothing remains at one end of a rack for a predetermined time, and / or if, during control of the steering motor by the first steering control module, the first temperature information is greater than or equal to a second reference value and a position of a toothing moves back and forth from one end to the other end a predetermined number of times.

[0009] According to embodiments of the present disclosure, it is possible to improve the stability of a power pack and overcome limitations for controlling a steering motor by allowing a first steering control module and a second steering control module to transition according to their internal temperatures and alternately control the steering motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The accompanying drawings, which have been included to facilitate a further understanding of the disclosure and are incorporated into and are part of the disclosure, illustrate aspects of the disclosure and, together with the description, serve to explain the principle of the disclosure. Regarding the drawings: Fig. 1 illustrates a general configuration of a steering apparatus of a vehicle according to aspects of the present disclosure; Fig. 2 illustrates an exemplary steering control device of the vehicle according to aspects of the present disclosure; Fig. 3 illustrates a general configuration of a power supply module of the vehicle according to aspects of the present disclosure; Fig. 4 illustrates that a steering motor is controlled by any one of a first steering control module and a second steering control module that transition based on temperatures within the vehicle, in accordance with aspects of the present disclosure; Fig. 5 illustrates an internal temperature in a situation where a steering motor is controlled by any of the first steering control module and the second steering control module in the vehicle according to aspects of the present disclosure; Fig. 6 illustrates respective interior temperatures in a situation where control of the steering motor is switched when the first and second steering control modules transition based on their interior temperatures in the vehicle, according to aspects of the present disclosure; Fig. 7 illustrates that an internal temperature of a steering control module increases according to a position of a gear in the vehicle, according to aspects of the present disclosure; Fig. 8 is a flowchart illustrating a method for steering control according to aspects of the present disclosure; and Fig. 9 is a detailed illustration of step S830 in the steering control method according to aspects of the present disclosure. DETAILED DESCRIPTION

[0011] In the following description of examples or embodiments of the present disclosure, reference is made to the accompanying drawings, in which, by way of illustration, certain examples or embodiments that may be practiced are shown, and in which the same reference numbers and characters may be used to designate the same or similar components even though they are shown in different accompanying drawings. Furthermore, in the following description of examples or embodiments of the present disclosure, detailed descriptions of known functions and components contained herein are omitted when it is determined that the description might rather obscure the subject matter in some embodiments of the present disclosure.The terms "include," "comprise," "consist of," and "consist of" used herein are generally intended to permit the addition of other components, unless the terms are used with the term "only." As used herein, singular forms are intended to include plural forms unless the context clearly indicates otherwise.

[0012] Terms such as "first," "second," "A," "B," "(A)," or "(B)" may be used herein to describe elements of the disclosure. None of these terms are used to define an importance, order, sequence, or number of elements, etc., but are used merely to distinguish the corresponding element from other elements.

[0013] When it is mentioned that a first element is “connected or coupled” to, “touches or overlaps,” etc., a second element, this should be interpreted to mean that the first element may not only be “directly connected or coupled” to, or “directly touch or overlap” the second element, but also that a third element may be “interposed” between the first and second elements, or that the first and second elements may be “connected or coupled” to, “touch or overlap” each other via a fourth element, etc. Here, the second element may be included in at least one of two or more elements that are “connected or coupled,” “contact or overlap” each other, etc.When time-related terms such as "after," "following," "next," "before," and the like are used to describe processes or operations of elements or configurations or sequences or steps of operations, processing, or methods of operation, these terms may be used to describe processes or operations that are not contiguous or consecutive, unless the term "direct" or "immediate" is used in connection therewith.

[0014] When mentioning dimensions, relative sizes, etc., it should also be noted that numerical values ​​for an element or characteristic, or corresponding information (e.g., grade, range, etc.), include a tolerance or range of error that may be caused by various factors (e.g., process factors, internal or external influences, noise, etc.), even if a relevant description is not specified. Furthermore, the term "could" includes all meanings of the term "may."

[0015] Hereinafter, a steering control device 100 employed in a vehicle according to aspects of the present disclosure will be described with reference to the accompanying drawings.

[0016] Hereinafter, a steering apparatus employed in a vehicle according to aspects of the present disclosure will be described with reference to the accompanying drawings.

[0017] Fig. 1 illustrates a general configuration of the steering apparatus of a vehicle according to aspects of the present disclosure.

[0018] Referring to Fig. 1, the steering device 1000 of the vehicle according to aspects of the present disclosure may include the steering control device 100, an internal communication network 200, and the like.

[0019] The steering control device 100 may be connected to a steering motor 600. The steering control device 100 may control the steering motor 600. In one embodiment, a plurality of steering control devices 100, for example, steering control modules (110, 120, etc.), may be integrated into the vehicle's steering device 1000.

[0020] Each of the steering control modules (110, 120, etc.) can control the steering motor 600. For example, each of the steering control modules (110, 120, etc.) can control a steering motor 600. That is, each of the steering control modules (110, 120, etc.) can have the same control function. Furthermore, the steering control modules (110, 120, etc.) that have the same control function can control a steering motor 600 at different times.

[0021] All steering control modules (110, 120, etc.) may be interconnected via the internal communication network 200. Here, the internal communication network 200 may be a network used only to interconnect the steering control modules (110, 120, etc.), that is, a dedicated communication network (a private control area network ("CAN") or an internal CAN) for the steering control modules only.

[0022] For example, the internal communication network 200 may include at least one of a wired communication network and a wireless communication network. In particular, the internal communication network 200 may include a CAN, but embodiments of the present disclosure are not limited thereto. For example, any type of communication network may be used for the internal communication network 200 as long as they can establish connections between steering control modules.

[0023] In a situation where an operating status of one of the steering control modules (110, 120, etc.) currently controlling the steering motor 600 is abnormal, each of the steering control modules (110, 120, etc.) may monitor an operating status of one or more other steering control modules using the internal communication network 200 so that the steering motor 600 may be controlled by at least one of the remaining steering control modules.

[0024] More specifically, each of the steering control modules (110, 120, etc.) may monitor the operating status of one or more other steering control modules via the internal communication network 200. Each of the steering control modules (110, 120, etc.) may determine an initiative to control the steering motor 600 based on a result of the monitoring.

[0025] In one embodiment, when it is determined that an operation status of a steering control module that currently controls the steering motor 600 among the steering control modules (110, 120, etc.) is abnormal based on the result of the monitoring, each of the steering control modules (110, 120, etc.) may operate to transfer the initiative to control the steering motor 600 from the steering control module that currently controls the steering motor 600 to at least one of the remaining steering control modules that are operating normally.

[0026] That is, if it is determined that an operation status of a steering control module that currently controls the steering motor 600 among the steering control modules (110, 120, etc.) is abnormal based on the result of the monitoring, each of the steering control modules (110, 120, etc.) may operate so that the steering motor 600 can be controlled by at least one of the remaining steering control modules.

[0027] In another embodiment, when it is determined that an operation status of a steering control module that currently controls the steering motor 600 among the steering control modules (110, 120, etc.) is normal based on the result of the monitoring, each of the steering control modules (110, 120, etc.) may operate so that the initiative to control the steering motor 600 can be continuously maintained by that steering control module that currently controls the steering motor 600.

[0028] That is, when it is determined that an operation status of a steering control module that currently controls the steering motor 600 among the steering control modules (110, 120, etc.) is normal based on the result of the monitoring, each of the steering control modules (110, 120, etc.) may operate so that the steering motor 600 can be continuously controlled by that steering control module that currently controls the steering motor 600.

[0029] As described above, in the steering device for the vehicle according to aspects of the present disclosure, in a situation where two or more steering control modules are connected to each other via an internal communication network, when it is determined that an operating status of a steering control module that currently controls the steering motor 600 is abnormal, since each of the steering control modules is allowed to monitor the operating statuses of one or more other steering control modules using the internal communication network, so that the steering motor 600 can be controlled by at least one of the remaining steering control modules, since an initiative for controlling the steering motor 600 can be transferred to another steering control module that serves a backup function, even if the steering control module currently controlling the steering motor 600 is operating abnormally, it is thus possible to assist the steering of the vehicle.while no steering performance of the vehicle is reduced, thus improving the redundancy and reliability of the vehicle.

[0030] As described above, while the steering control device 100 may operate using two steering control devices (modules), embodiments of the present disclosure are not limited thereto. For example, the steering control device 100 may include three or more steering control devices (modules). In particular, one of the steering control modules may serve as a primary steering control module, and one or more remaining steering control modules may serve as subordinate steering control module(s) or redundant steering control module(s).

[0031] Hereinafter, for convenience of description, discussions will be made on a situation in which two steering control devices (modules) are used as the steering control devices 100 employed in the steering device 1000 of the vehicle according to aspects of the present disclosure.

[0032] Referring again to Fig. 1, a first steering control module 110 and a second steering control module 120 can be integrated into the steering control device 100. The first steering control module 110 can serve as a primary steering control module capable of driving the steering motor 600 with the highest priority. Furthermore, the second steering control module 120 can serve as a subordinate steering control module or a redundant steering control module capable of driving the steering motor 600 instead of the first steering control module 110 when needed.

[0033] When an operating status of the first steering control module 110 that currently controls the steering motor 600 is abnormal, the second steering control module 120 may monitor the operating status of the first steering control module 110 via the internal communication network 200, so that the steering motor can be controlled by the second steering control module 120 instead of the first steering control module 110.

[0034] Specifically, the second steering control module 120 may monitor the operating status of the first steering control module 110, which currently controls the steering motor 600, via the internal communication network 200. Furthermore, the steering control module 120 may determine an initiative to control the steering motor 600 based on a result of the monitoring.

[0035] In one embodiment, when it is determined that an operation status of the first steering control module 110 currently controlling the steering motor 600 is abnormal based on the result of the monitoring, the second steering control module 120 may change the initiative for controlling the steering motor 600 from the first steering control module 110 to the second steering control module 120.

[0036] That is, when it is determined that the operation status of the first steering control module 110 currently controlling the steering motor 600 is abnormal based on the result of the monitoring, the second steering control module 120 may control the steering motor 600 instead of the first steering control module 110.

[0037] In another embodiment, when it is determined based on the result of the monitoring that the operation status of the first steering control module 110 currently controlling the steering motor 600 is normal, the second steering control module 120 may operate such that the initiative for controlling the steering motor 600 can be kept constant by the first steering control module 110.

[0038] That is, if it is determined that an operation status of the first steering control module 110 currently controlling the steering motor 600 is normal based on the result of the monitoring, the steering motor 600 may be allowed to be continuously controlled by the first steering control module 110.

[0039] When the respective operating states of the first and second steering control modules 110 and 120 become abnormal, the operation of a steering wheel of the vehicle may transition to a manual mode or a reduced assistance mode.

[0040] In one embodiment, when the respective operating statuses of the first and second steering control modules 110 and 120 become abnormal, the second steering control module 120 may change the operation of the steering wheel to the manual mode or the reduced assistance mode.

[0041] In another embodiment, when the respective operating statuses of the first and second steering control modules 110 and 120 become abnormal, the vehicle may change the operation of the steering wheel to the manual mode or the reduced assistance mode.

[0042] The first steering control module 110 and the second steering control module 120 may be duplicated to resemble each other. That is, the first steering control module 110 and the second steering control module 120 may include the same elements.

[0043] As described above, in the steering device of the vehicle according to aspects of the present disclosure, since steering torque sensors, steering angle sensors, and motor position sensors, as well as the first and second steering control modules are duplicated to be equal to each other, each element for steering control except the steering motor can be configured such that two elements performing a substantially similar function are duplicated to form a package instead of being operated independently as separate elements, and thus it is possible to increase the redundancy and reliability of the vehicle.

[0044] Referring to Fig. 1, the steering device 1000 of the vehicle may include a power supply module 300 according to aspects of the present disclosure.

[0045] The power supply module 300 can be connected to the steering control device 100. The power supply module 300 can transmit electrical power to the steering control device 100. The power supply module 300 can transmit a DC voltage to the steering control device 100. The power supply module 300 can transmit two DC voltages to the steering control device 100.

[0046] The two DC voltages may be a first DC voltage and a second DC voltage. The first DC voltage may be supplied to the first steering control module 110 and may be referred to as a primary DC voltage. The second DC voltage may be supplied to the second steering control module 120 and may be referred to as a partial DC voltage or a redundant DC voltage.

[0047] The operation of the power supply module 300 can be controlled and monitored by each of the steering control modules 110 and 120. Each of the steering control modules 110 and 120 can monitor the operating status of the power supply module 300 and the status of the supplied DC voltage, and then determine an initiative to control the steering motor 600 according to a result of the monitoring.

[0048] For example, the second steering control module 120 may monitor an operating status of the first steering control module 110 via the internal communication network 200. Furthermore, the second steering control module 120 may determine an initiative to control the steering motor 600 based on the monitoring result. The second steering control module 120 may monitor the operating status of the power supply module 300 and the status of the supplied DC voltage by monitoring the operating status of the first steering control module 110.

[0049] In one embodiment, if it is determined that the DC voltage transmitted from the power supply module 300 to the first steering control module 110 is abnormal based on the result of the monitoring, the second steering control module 120 may change the initiative for controlling the steering motor 600 from the first steering control module 110 to the second steering control module 120.

[0050] That is, if it is determined that the first DC voltage transmitted from the power supply module 300 to the first steering control module 110 is abnormal based on the monitoring result, the second steering control module 120 may control the steering motor 600 based on the second DC voltage received from the power supply module 300 instead of the first steering control module 110.

[0051] In another embodiment, if it is determined based on the result of the monitoring that the DC voltage transmitted from the power supply module 300 to the first steering control module 110 is normal, the second steering control module 120 may operate such that the first steering control module 110 continuously maintains the initiative to control the steering motor 600.

[0052] That is, if it is determined that the DC voltage transmitted from the power supply module 300 to the first steering control module 110 is normal based on the result of the monitoring, the steering motor 600 can be allowed to be continuously controlled by the first steering control module 110.

[0053] Referring to Fig. 1, the steering device 1000 of the vehicle may include a steering torque sensor module 400 according to aspects of the present disclosure.

[0054] The steering torque sensor module 400 may include a plurality of torque sensors. For example, the steering torque sensor module 400 may include at least one first steering torque sensor 410 and at least one second steering torque sensor 420.

[0055] The at least one first steering torque sensor 410 and the at least one second steering torque sensor 420 can measure a torque of the vehicle's steering wheel. The at least one first steering torque sensor 410 and the at least one second steering torque sensor 420 can generate steering wheel torque information based on the measured steering wheel torque.

[0056] The at least one first steering torque sensor 410 may be connected to the first steering control module 110. The at least one first steering torque sensor 410 may transmit the steering wheel torque information to the first steering control module 110. The first steering torque sensor 410 may be referred to as a primary steering torque sensor because it may transmit the steering wheel torque information to the first steering control module 110.

[0057] The at least one second steering torque sensor 420 may be connected to the second steering control module 120. The at least one second steering torque sensor 420 may transmit the steering wheel torque information to the second steering control module 120. The second steering torque sensor 420 may be referred to as a subordinate steering torque sensor or a redundant steering torque sensor because it may transmit the steering wheel torque information to the second steering control module 120.

[0058] The operation of the steering torque sensor module 400 can be controlled and monitored by each of the steering control modules 110 and 120. Each of the steering control modules 110 and 120 can monitor an operating status of the steering torque sensor module 400 and transmitted steering wheel torque information, and determine an initiative to control the steering motor 600 according to a result of the monitoring.

[0059] For example, the second steering control module 120 may monitor an operating status of the first steering control module 110 via the internal communication network 200. Further, the second steering control module 120 may determine the initiative to control the steering motor 600 based on the monitoring result. The second steering control module 120 may monitor an operating status of the at least one first steering torque sensor 410 and steering wheel torque information transmitted by monitoring the operating status of the first steering control module 110.

[0060] In one embodiment, if it is determined that the torque information transmitted from the at least one first steering torque sensor 410 to the first steering control module 110 is abnormal based on the result of the monitoring, the second steering control module 120 may change the initiative for controlling the steering motor 600 from the first steering control module 110 to the second steering control module 120.

[0061] That is, if it is determined based on the result of the monitoring that the information transmitted from the at least one first steering torque sensor 410 to the first steering control module 110 is abnormal, the second steering control module 120 may control the steering motor 600 based on the information obtained from the at least one second steering torque sensor 420 instead of the first steering control module 110.

[0062] In another embodiment, if it is determined based on the result of the monitoring that the torque information transmitted from the at least one first steering torque sensor 410 to the first steering control module 110 is normal, the second steering control module 120 may operate such that the first steering control module 110 continuously maintains the initiative to control the steering motor 600.

[0063] That is, if it is determined based on the result of the monitoring that the torque information of the steering wheel transmitted from the at least one first steering torque sensor 410 to the first steering control module 110 is normal, the steering motor 600 may be allowed to be continuously controlled by the first steering control module 110.

[0064] The first steering control module 110 and the second steering control module 120 may include an electronic control unit (ECU) as the controller, but embodiments of the present disclosure are not limited thereto. For example, any type of control device (or system) may be included in the first steering control module 110 and the second steering control module 120, as long as they are electronically controllable devices (or systems).

[0065] Referring to Fig. 1, the steering device 1000 of the vehicle may include a steering angle sensor module 500 according to aspects of the present disclosure.

[0066] The steering angle sensor module 500 may include a plurality of steering angle sensors. For example, the steering angle sensor module 500 may include at least one first steering angle sensor 510 and at least one second steering angle sensor 520.

[0067] The at least one first steering angle sensor 510 and the at least one second steering angle sensor 520 can measure a steering angle of the vehicle's steering wheel. The at least one first steering angle sensor 510 and the at least one second steering angle sensor 520 can generate steering angle information of the steering wheel based on the steering angle measured for the steering wheel.

[0068] The at least one first steering angle sensor 510 may be connected to the first steering control module 110. The at least one first steering angle sensor 510 may transmit the steering angle information of the steering wheel to the first steering control module 110. The first steering angle sensor 510 may be referred to as a primary steering angle sensor because it may transmit the steering angle information of the steering wheel to the first steering control module 110.

[0069] The at least one second steering angle sensor 520 may be connected to the second steering control module 120. The at least one second steering angle sensor 520 may transmit the steering angle information of the steering wheel to the second steering control module 120. The second steering angle sensor 520 may be referred to as a subordinate steering angle sensor or a redundant steering angle sensor because it may transmit the steering angle information of the steering wheel to the second steering control module 120.

[0070] The operation of the steering angle sensor module 500 can be controlled and monitored by each of the steering control modules 110 and 120. Each of the steering control modules 110 and 120 can monitor an operating status of the steering angle sensor module 500 and transmitted steering angle information of the steering wheel, and determine an initiative to control the steering motor 600 according to a result of the monitoring.

[0071] For example, the second steering control module 120 may monitor an operating status of the first steering control module 110 via the internal communication network 200. Further, the second steering control module 120 may determine the initiative to control the steering motor 600 based on the monitoring result. The second steering control module 120 may monitor an operating status of the at least one first steering angle sensor 510 and steering angle information of the steering wheel transmitted by monitoring the operating status of the first steering control module 110.

[0072] In one embodiment, if it is determined based on the result of the monitoring that the steering angle information transmitted from the at least one first steering angle sensor 510 to the first steering control module 110 is abnormal, the second steering control module 120 may change the initiative for controlling the steering motor 600 from the first steering control module 110 to the second steering control module 120.

[0073] That is, if it is determined based on the result of the monitoring that the steering angle information of the steering wheel transmitted from the at least one first steering angle sensor 510 to the first steering control module 110 is abnormal, the second steering control module 120 may control the steering motor 600 based on the information received from the at least one second steering angle sensor 520 instead of the first steering control module 110.

[0074] In another embodiment, if it is determined based on the result of the monitoring that the steering angle information of the steering wheel transmitted from the at least one first steering angle sensor 510 to the first steering control module 110 is normal, the second steering control module 120 may operate such that the first steering control module 110 continuously maintains the initiative to control the steering motor 600.

[0075] That is, if it is determined based on the result of the monitoring that the steering angle information of the steering wheel transmitted from the at least one first steering angle sensor 510 to the first steering control module 110 is normal, the steering motor 600 can be allowed to be continuously controlled by the first steering control module 110.

[0076] Referring to Fig. 1, the steering device 1000 of the vehicle according to aspects of the present disclosure may include the steering motor 600.

[0077] The steering motor 600 can be connected to each of the steering control modules 110 and 120. The operation of the steering torque sensor module 400 can be controlled by each of the steering control modules 110 and 120. The operation of the steering motor 600 can be controlled by the first steering control module 110. When an operating status of the first steering control module 110 is abnormal, the operation of the steering motor 600 can be controlled by the second steering control module 120 instead of the first steering control module 110.

[0078] The steering motor 600 may include a single-winding type motor, but embodiments of the present disclosure are not limited thereto. For example, any type of motor may be included in the steering motor 600 as long as they can be controlled by each of the steering control modules.

[0079] Referring to Fig. 1, the steering device 1000 of the vehicle may include an external communication network 700 according to aspects of the present disclosure.

[0080] The external communication network 700 may include a plurality of external communication networks. For example, the external communication network 700 may include a first external communication network 710 and a second external communication network 720.

[0081] The first external communication network 710 may be a connection between the first steering control module 110 and the vehicle 2000. The first external communication network 710 may transmit vehicle status information transmitted from the vehicle 2000 to the first steering control module 110. The first external communication network 710 may be referred to as a primary external communication network because it may transmit the status information transmitted from the vehicle 2000 to the first steering control module 110.

[0082] The second external communication network 720 may be a connection between the second steering control module 120 and the vehicle 2000. The second external communication network 720 may transmit vehicle status information transmitted from the vehicle 2000 to the second steering control module 120. The second external communication network 720 may be referred to as a subordinate external communication network or a redundant external communication network because it may transmit the status information transmitted from the vehicle 2000 to the second steering control module 120.

[0083] The external communication network 700 may include at least one of a wired communication network and a wireless communication network. Specifically, the external communication network 700 may include a Controller Area Network (CAN), but embodiments of the present disclosure are not limited thereto. For example, any type of communication network may be integrated into the external communication network 200, as long as they can establish connections between each of the steering control modules and the vehicle 2000.

[0084] The operation of the external communication network 700 can be controlled and monitored by each of the steering control modules 110 and 120. Each of the steering control modules 110 and 120 can monitor an operating status of the external communication network 700 and vehicle status information transmitted from the vehicle 2000 via the external communication network 700, and determine an initiative to control the steering motor 600 based on a result of the monitoring.

[0085] For example, the second steering control module 120 may monitor an operating status of the first steering control module 110 via the internal communication network 200. Further, the second steering control module 120 may determine the initiative to control the steering motor 600 based on the monitoring result. The second steering control module 120 may monitor an operating status of the first external communication network 710 and vehicle status information transmitted from the vehicle 2000 via the first external communication network 710 by monitoring the operating status of the first steering control module 110.

[0086] In one embodiment, if it is determined that the vehicle status information transmitted from the vehicle 2000 via the first external communication network 710 is abnormal based on the result of the monitoring, the second steering control module 120 may change the initiative for controlling the steering motor 600 from the first steering control module 110 to the second steering control module 120.

[0087] That is, if it is determined that the vehicle status information transmitted from the vehicle 2000 via the first external communication network 710 is abnormal based on the result of the monitoring, the second steering control module 120 may control the steering motor 600 based on the status information transmitted from the vehicle 2000 via the second external communication network 720 instead of the first steering control module 110.

[0088] In another embodiment, when it is determined that the vehicle status information transmitted from the vehicle 2000 via the first external communication network 710 is normal based on the result of the monitoring, the second steering control module 120 may operate such that the first steering control module 110 continuously maintains the initiative to control the steering motor 600.

[0089] That is, if it is determined that the vehicle status information transmitted from the vehicle 2000 via the first external communication network 710 is normal based on the result of the monitoring, the second steering control module 120 may operate so that the first steering control module 110 continuously maintains the initiative to control the steering motor 600.

[0090] The vehicle status information may include at least one of vehicle speed information, vehicle torque information, vehicle steering angle information, vehicle yaw angle information, vehicle pedal information, and vehicle engine power information, which may represent a status of the vehicle; however, embodiments of the present disclosure are not limited thereto. For example, any type of information may be incorporated into the vehicle status information as long as it can represent a status of the vehicle.

[0091] The vehicle status information may include at least one of vehicle ambient lighting information, rainfall information in the vehicle's surroundings, and snow information in the vehicle's surroundings, which may represent internal and / or external environments of the vehicle, but embodiments of the present disclosure are not limited thereto. For example, all types of information may be incorporated into the vehicle status information as long as they can represent internal and / or external environment(s) of the vehicle.

[0092] Fig. 2 is a detailed schematic diagram of the vehicle's steering control device according to aspects of the present disclosure.

[0093] Referring again to Fig. 2, the steering control device 100 may include the first steering control module 110 and the second steering control module 120, as shown in Fig. 1. The first steering control module 110 may include a first sensor section 111, a first communication device 112, a first steering motor power supply 113, a first controller 114, a first controller monitoring unit 115, a first energy converter 116, and the like.

[0094] The second steering control module 120 may include a second sensor section 121, a second communication device 122, a second steering motor power supply 123, a second controller 124, a second control monitoring unit 125, a second energy converter 126, and the like.

[0095] Since the first sensor section 111, the first communication device 112, the first steering motor power supply 113, the first controller 114, the first controller monitoring unit 115, and the first energy converter 116 of the first steering control module 110 may be the same or substantially the same as the second sensor section 121, the second communication device 122, the second steering motor power supply 123 of the second controller 124, the second controller monitoring unit 125, and the second energy converter 126 of the second steering control module 120, respectively, only the elements of the first steering control module 110 will be discussed.

[0096] The first sensor section 111 may include a first temperature sensor 111-1, a first current sensor 111-2, and a first motor position sensor 111-3, but embodiments of the present disclosure are not limited thereto. For example, any type of sensor may be integrated into the first sensor section 111 as long as it can measure a status of the vehicle's steering device.

[0097] The first temperature sensor 111-1 can measure a temperature of the first steering control module 110. The first temperature sensor 111-1 can measure first temperature information based on the measured temperature of the first steering control module 110. The first temperature sensor 111-1 can be connected to the first controller 114. The first temperature sensor can transmit the detected first temperature information to the first controller 114.

[0098] The first current sensor 111-2 can measure a first auxiliary current between the first steering motor power supply 113 and the steering motor 600. The first current sensor 111-2 can acquire first auxiliary current information based on the measured first auxiliary current. The first current sensor 111-2 can be connected to the first controller 114. The first current sensor 111-2 can transmit the acquired first auxiliary current information to the first controller 114.

[0099] The first motor position sensor 111-3 can measure a position of the steering motor 600. The first motor position sensor 111-3 can measure first motor position information based on the measured position of the steering motor 600. The first motor position sensor 111-3 can be connected to the first controller 114. The first motor position sensor 111-3 can transmit the detected first motor position information to the first controller 114.

[0100] The first communication device 112 may include a first internal communication device 112-1, a first external communication device 112-2, and the like.

[0101] The first internal communication device 112-1 may be connected to a second internal communication device 122-1 of the second steering control module 120 via the internal communication network 200. That is, the first internal communication device 112-1 and the second internal communication device 122-1 may be connected to each other via the internal communication network 200 and may transmit and receive information to and from the first steering control module 110 and the second steering control module 120.

[0102] The first internal communication device 112-1 may be connected to the first controller 114. That is, the first internal communication device 112-1 may transmit information (e.g., operating status information, etc., of the second steering control module 120) received from the second steering control module 120 via the internal communication network 200 to the first controller 114. Furthermore, the first internal communication device 112-1 may transmit information (e.g., operating status information, etc., of the first steering control module 110) received from the first controller 114 to the second internal communication device 112-1 via the internal communication network 200.

[0103] The first external communication device 112-2 may be connected to the vehicle 2000 via the first external communication network 710. That is, the first external communication device 112-2 and the vehicle 2000 may be connected to each other via the first external communication network 710 and may thus transmit and receive information about the first steering control module 110 and the vehicle to and from each other. For example, the first external communication device 112-2 may transmit information (e.g., vehicle status information, etc.) that it has received from the vehicle 2000 via the first external communication network 710 to the first controller 114. Furthermore, the first external communication device 112-2 may transmit information (e.g., operating status information, etc.)of the first steering control module 110) which it has received from the first controller 114, to the vehicle 2000 via the first external communication network 710.

[0104] The first internal communication device 112-1 and the second external communication device 112-2 may include at least one of wired and wireless communication ports. In particular, the first internal communication device 112-1 and the second external communication device 112-2 may include CAN-based communication ports; however, embodiments of the present disclosure are not limited thereto. For example, the first internal communication device 112-1 and the second external communication device 112-2 may incorporate communication ports of any type, as long as they allow each of the steering control modules and the vehicle to be connected to each other.

[0105] The first steering motor power supply 113 may include a first gate driver 113-1, a first inverter 113-2, a first phase separator (or phase cut-off circuit, PCO) 113-3, and the like.

[0106] The first gate driver 113-1 may be connected to the first controller 114. The first gate driver 113-1 may receive a first gate signal from the first controller 114. The first gate driver 113-1 may be connected to the first inverter 113-2. The first gate driver 113-1 may transmit the first gate signal received from the first controller 114 to the first inverter 113-2.

[0107] The first inverter 113-2 may be connected to the power supply module 300. The first DC voltage from the power supply module 300 may be transmitted to the first inverter 113-2. The first inverter 113-2 may be connected to the first gate driver 113-1. The first inverter 113-2 may receive the first gate signal from the first gate driver 113-1.

[0108] The first inverter 113-2 is a DC-AC converter and can generate a first auxiliary current by voltage-to-current conversion for the first DC voltage transmitted from the power supply module 300 according to the first gate signal received from the first gate driver 113-1.

[0109] The first inverter 113-2 may comprise a three-phase inverter, but embodiments of the present disclosure are not limited thereto. Depending on the type of steering motor and power source, other types of inverters may be used.

[0110] The first PCO 113-3 may be connected to the first inverter 113-2. The first auxiliary power from the first inverter 113-2 may be transmitted to the first PCO 113-3.

[0111] The first PCO 113-3 can cause the first auxiliary current transmitted from the first inverter 113-2 to flow or not to flow through on-off operations. The first PCO 113-3 can be connected to the steering motor 600. The first PCO 113-3 can cause the first auxiliary current transmitted from the first inverter 113-2 to be transmitted to the steering motor 600 or not.

[0112] The PCO is an element or circuit capable of disconnecting a phase and may include at least one of a switch, a circuit breaker, a disconnector, and an on-off controller; however, embodiments of the present disclosure are not limited thereto. For example, any type of component or circuit may be incorporated into the PCO as long as it can disconnect a phase.

[0113] As described above, in the steering device of the vehicle according to aspects of the present disclosure, since a steering motor can be mediated via each PCO, all inverters can be isolated from each other via each PCO, thereby making it possible to increase the redundancy and reliability of the vehicle.

[0114] The first controller 114 may be connected to the first sensor section 111, the first communication device 112, the first steering motor power supply 113, the first control monitoring unit 115, and the first energy converter 116. The first controller 114 may control operations of the first sensor section 111, the first communication device 112, the first steering motor power supply 113, the first control monitoring unit 115, and the first energy converter 116.

[0115] For example, the first controller 114 may generate a first gate signal based on torque information of the steering wheel received from the at least one first steering torque sensor 410, steering angle information of the first steering wheel received from the at least one first steering angle sensor 510, first temperature information, first auxiliary current information, and first motor position information received from the first sensor section 111, and status information of the vehicle (e.g., speed information of the vehicle) received from the first communication device 112, and control the first auxiliary current of the first inverter 113-2 by transmitting the generated first gate signal to the first gate driver 113-1.

[0116] The first gate signal may be generated based on a predetermined modulation method. Specifically, the predetermined modulation method may include at least one of pulse width modulation, optimal voltage modulation, triangular comparison voltage modulation, and space vector voltage modulation; however, embodiments of the present disclosure are not limited thereto. For example, any type of voltage modulation method may be incorporated into the predetermined modulation method as long as it can generate a gate signal for controlling the operation of the inverter.

[0117] The first controller 114 may include a first microcontroller unit (MCU) 114-1; however, embodiments of the present disclosure are not limited thereto. For example, any type of device (or computer) may be integrated into the first controller 114 as long as it can process (or execute and compute) programs.

[0118] The first controller monitoring unit 115 may be connected to the first controller 114. The first controller monitoring unit 115 may monitor an operating state of the first controller 114. For example, the first controller 114 may transmit a first watchdog signal to the first controller monitoring unit 115. The first controller monitoring unit 115 may be cleared or generate a first reset signal based on the first watchdog signal received from the first controller 114.

[0119] Clearing the first controller monitoring unit 115 may indicate that the first controller 114 is operating normally. The first controller generating the first reset signal and transmitting the generated first reset signal to the first controller 114 may indicate that the first controller 114 is operating abnormally and may be reset by the first reset signal.

[0120] The first watchdog signal may be a signal (e.g., a signal that prevents the first controller 114 from being reset) used to enable the first controller monitoring unit 115 to periodically monitor the operation of the first controller 114. That is, the first watchdog signal may be a signal indicating that a program currently executing in the first controller 114 is active.

[0121] The first controller monitoring unit 115 may include a first watchdog 115-1; however, embodiments of the present disclosure are not limited thereto. For example, any type of device or circuit may be integrated into the first controller monitoring unit 115 as long as it can monitor an operation of the first controller 114. In particular, the first watchdog 115-1 may include a first window watchdog with a deadline, i.e., a start and an end.

[0122] The first energy converter 116 can be connected to the power supply module 300. The first DC voltage from the power supply module 300 can be transmitted to the first energy converter 116. The first energy converter 116 can generate at least a first operating voltage by converting the first DC voltage transmitted from the power supply module 300 to a different voltage level.

[0123] The first energy converter 116 can be connected to the first sensor section 111, the first communication device 112, the first steering motor power supply 113, the first controller 114, and the first controller monitoring unit 115. The first energy converter 116 can transmit the generated at least one first operating voltage to the first sensor section 111, the first communication device 112, the first steering motor power supply 113, the first controller 114, and the first controller monitoring unit 115.

[0124] The at least one first operating voltage may be one or more voltages for operating the first sensor section 111, the first communication device 112, the first steering motor power supply 113, the first controller 114, and the first controller monitoring unit 115. Consequently, the at least one first operating voltage may be two or more first operating voltages generated by modifying one or more of the at least one first operating voltage according to the operating voltages of the first sensor section 111, the first communication device 112, the first steering motor power supply 113, the first controller 114, and the first controller monitoring unit 115.

[0125] The first energy converter 116 may comprise a DC-DC converter. The DC-DC converter may comprise a buck converter; however, embodiments of the present disclosure are not limited thereto. For example, the DC-DC converter may include any type of converter as long as they can convert the transmitted first DC voltage into the at least one first operating voltage at a lower level than the transmitted first DC voltage.

[0126] The first energy converter 116 may include a first regulator 116-1. The first regulator 116-1 may convert the transmitted first DC voltage into the at least one first operating voltage having a lower level than the transmitted first DC voltage.

[0127] The second steering control module 120 may monitor an operating state of the first steering control module 110 currently controlling the steering motor via the internal communication network 200, and, based on a result of the monitoring, when it is determined that the operating state of the first steering control module 110 is abnormal, control the steering motor 600 by using at least one of the second sensor section 121, the second communication device 122, the second steering motor power supply 123, the second controller 124, the second control monitoring unit 125, and the second power converter 126.

[0128] For example, the second steering control module 120 may monitor an operating state of the first steering control module 110 that currently controls the steering motor via the internal communication network 200, and may, based on a result of the monitoring, when it is determined that the operating status of the first steering control module 110 is abnormal, that is, when at least one of the first motor position information, the first temperature information, and the first auxiliary power information from the first sensor section 111, the vehicle status information from the first communication device 112, the first auxiliary power from the first steering motor power supply 113, the first gate signal from the first controller 114, the first watchdog signal from the first controller monitoring unit 115, and the first operating voltage from the first power converter 116 is abnormal,the steering motor 600 by using at least one of the second sensor section 121, the second communication device 122, the second steering motor power supply 123, the second controller 124, the second control monitoring unit 125, and the second power converter 126, which perform a same function as the first sensor section 111, the first communication device 112, the first steering motor power supply 113, the first controller 114, the first control monitoring unit 115, and the first power converter 116, respectively, that is, by using at least one of second motor position information, second temperature information, and second auxiliary current information from the second sensor section 121, vehicle status information from the second communication device 122, a second auxiliary current from the second steering motor power supply 123, and a second gate signal from the second controller 124,a second watchdog signal from the second control monitoring unit 125 and a second operating voltage from the second energy converter 126.

[0129] Fig. 3 illustrates a general configuration of the vehicle power supply module according to aspects of the present disclosure.

[0130] Referring to Fig. 3, the vehicle power supply module 300 may include a DC power supply 310, a power path controller 320, and the like, according to aspects of the present disclosure.

[0131] The DC power supply 310 can supply a DC voltage. The DC voltage can include a first DC voltage and a second DC voltage. In particular, the first DC voltage and the second DC voltage can have the same DC voltage level.

[0132] The DC power supply 310 can transmit the first DC voltage to the first steering control module 110. In particular, the first DC voltage can be transmitted to the first regulator 116-1 of the first power converter 116 and the first inverter 113-2 of the first steering motor power supply 113.

[0133] The DC power supply 310 can transmit the second DC voltage to the second steering control module 120. In particular, the second DC voltage can be transmitted to a second regulator 126-1 of the second power converter 126 and a second inverter 123-2 of the second steering motor power supply 123.

[0134] In some embodiments, the power supply module 300 may further include the power path controller 320. The power path controller 320 may be connected to the DC power supply 310. A DC voltage from the DC power supply 310 may be transmitted to the power path controller 320. In particular, the first DC voltage and the second DC voltage may be transmitted from the DC power supply 310 to the power path controller 320.

[0135] The power path controller 320 may control a power path based on the first DC voltage and the second DC voltage transmitted from the DC power supply 310, and then transmit the first DC voltage to the first steering control module 110 (that is, the first regulator 116-1 of the first power converter 116 and the first inverter 113-2 of the first steering motor power supply 113), and transmit the second DC voltage to the second steering control module 120 (that is, the second regulator 126-1 of the second power converter 126 and the second inverter 123-2 of the second steering motor power supply 123).

[0136] The second steering control module 120 may monitor an operating state of the first steering control module 110 currently controlling the steering motor through the internal communication network 200, and, based on a result of the monitoring, when it is determined that the first DC voltage transmitted from the DC power supply 310 (or the power path controller 320) to the first steering control module 110 is abnormal, control the steering motor 600 based on the second DC voltage transmitted from the DC power supply 310 (or the power path controller 320).

[0137] Fig. 4 illustrates that the steering motor is controlled by any of the first steering control module and the second steering control module, which transition based on temperatures within the vehicle, in accordance with aspects of the present disclosure.

[0138] The steering control device 100 may include the first steering control module 110 and the second steering control module 120 for controlling the steering motor 600. The first steering control module 110 and the second steering control module 120 may include a first temperature sensor 111-1 and a second temperature sensor 121-1 for sensing internal temperatures of the first steering control module 110 and the second steering control module 120, respectively. The first steering control module 110 may transmit information about a first temperature detected by a first temperature sensor 111-1 to the second steering control module 120, and the second steering control module 120 may receive the first temperature information and transmit information about a second temperature detected by the second temperature sensor 121-1 to the first steering control module 110.

[0139] In other words, the first temperature sensor 111-1 can detect a temperature within the first steering control module 110 and transmit the first temperature information, which is information about this detected temperature, to the first steering control module 110. The second temperature sensor 121-1 can detect a temperature within the second steering control module 120 and transmit the second temperature information, which is information about this detected temperature, to the second steering control module 120. The received first temperature information and second temperature information can be shared while the first steering control module 110 and the second steering control module 120 transmit and receive data. Such transmission and reception of data can be performed via the internal communication network 200.

[0140] Any one of the first steering control module 110 and the second steering control module 120 can control the steering motor 600 when the first steering control module 110 and the second steering control module 120 transition based on the first temperature information and the second temperature information. Specifically, the first and second steering control modules 110 and 120 are configured in a redundancy provision system in which corresponding statuses can be switched between the first and second steering control modules 110 and 120 to switch respective roles between the first and second steering control modules 110 and 120 as needed, for example, in a situation where a problem is predicted in maintaining the performance of the steering device and preventing damage to the steering device according to internal temperatures of the first and second steering control devices 110 and 120.More specifically, when the first temperature information reaches a first reference value, which is a predetermined value, the first steering control module 110 may be controlled to enter a driving standby state. In this case, the second steering control module 120 in the driving standby state may transition to a normal driving state to control the steering motor 600. The driving standby state and the normal driving state may be defined as a slave mode (or slave state) and a master mode (or master state), respectively. This transition process may be substantially or approximately similar to a process in which, when any one of the first and second steering control modules 110 and 120 operates abnormally, the other transitions to the driving standby state.

[0141] Fig. 5 illustrates an internal temperature in a situation where the steering motor 600 is controlled by any of the first steering control module 110 and the second steering control module 120 in the vehicle according to aspects of the present disclosure. Fig. 6 illustrates respective interior temperatures in a situation where control of the steering motor 600 is switched when the first and second steering control modules 110 and 120 make a transition based on their interior temperatures in the vehicle, according to aspects of the present disclosure.

[0142] Referring to Fig. 5 shows that an internal temperature in one of the first and second steering control modules 110 and 120 increases according to the control of a steering wheel. When the steering motor 600 is controlled using only the one steering control module, it can be seen that the steering motor 600 can make up to approximately 21 rotations. Here, one rotation may mean moving the steering wheel from a clockwise limit to a counterclockwise limit. This movement may be defined as a circular path from lock to lock.

[0143] Consequently, if any one of the first and second steering control modules 110 and 120 continuously controls the steering motor 600, since current may continuously flow through the steering motor 600, the temperature inside the one steering control module may increase. In this case, the temperature of a power pack including the steering control device 100 and the steering motor 600 may reach a threshold temperature, and this may cause damage or poor performance. To prevent this from occurring before the threshold temperature of the power pack is reached, overheat protection logic may be applied, causing the associated steering wheel to become heavy, allowing the driver to detect an abnormality.

[0144] Consequently, if the internal temperature of the steering control module continuously rises, the performance of the steering control device may deteriorate and even cause damage.

[0145] Referring to Fig. 6, in order to reduce the temperature rise as described above, when a temperature inside one of the first steering control module 110 and the second steering control module 120 that can control the steering motor 600 and currently controls the steering motor 600 rises and reaches a first reference value, one steering control module that currently controls the steering motor 600 can be controlled to transition from the normal driving state to the driving standby state, and the other steering control module can control the steering motor 600. For example, if the first temperature information is equal to or greater than the first reference value while the first steering control module 110 is controlling the steering motor 600, the second steering control module 120 can transition to the normal driving state and control the steering motor 600.Conversely, if the second temperature information is equal to or greater than the first reference value while the second steering control module 120 is controlling the steering motor 600, the first steering control module 110 may transition to the normal driving state and control the steering motor 600. When the first steering control module 110 or the second steering control module 120 transitions to the normal driving state and controls the steering motor 600, such an operation may be performed for up to 28 rotations.

[0146] As described above, in the steering control device 100 of the vehicle according to aspects of the present disclosure, when transitions between the normal driving status and the driving standby status are available according to internal temperatures of the steering control modules, overheating of the power pack can be prevented and its durability can be improved, resulting in a more increased number of controls being able to be executed.

[0147] In one embodiment, while the second steering control module 120 controls the steering motor 600 when the second temperature information is greater than or equal to the first reference value, and the first temperature information is equal to or greater than the first reference value when the second temperature information is less than the first temperature information, the second steering control module 120 may maintain control for the steering motor 600.Specifically, in a situation where the first steering control module 110 and the second steering control module 120 continuously control the steering motor 600 in response to wheel braking by the driver, the respective internal temperatures in the first steering control module 110 and the second steering control module 120 may sequentially increase, and as a result, corresponding transition processes may repeat, ultimately causing both the first temperature information and the second temperature information to become equal to or greater than the first reference value. In this situation, the second steering control module 120 may maintain control of the steering motor 600 instead of allowing control of the steering motor 600 to be switched to the first steering control module 110. Accordingly, the steering control device 100 may reduce frequent transitions of the steering control modules that may occur when the internal temperature increases.

[0148] Fig. 7 illustrates that an internal temperature of a steering control module increases according to a position of a gear in the vehicle according to aspects of the present disclosure.

[0149] Referring to Fig. 7, the amount of current flowing through the steering motor 600 may increase according to the position of the steering wheel. Furthermore, since the position of the gear teeth also moves to correspond with the position of the steering wheel, essentially, when the steering wheel reaches a clockwise limit (CW limit) or a counterclockwise limit (CCW limit), the position of the gear teeth may also be placed at one end of a corresponding rack. Accordingly, as the amount of current flowing through the steering motor 600 increases, the internal temperature of an associated steering control module, for example, the first steering control module 110 that controls the steering motor 600, may rapidly rise.

[0150] Therefore, when the internal temperature of the first steering control module is predicted to rise rapidly, to prevent this situation, if the first temperature information is greater than or equal to a second reference value and the position of the gear teeth at the end of the rack is maintained for a predetermined time while the first steering control module 110 controls the steering motor 600, the second steering control module 120 can control the steering motor 600 by transitioning to the master state (or normal driving state). That is, the second steering control module 120 can control the steering motor 600 by transitioning from the slave state (or driving standby state) to the master state (or normal driving state).

[0151] In one embodiment, when the first temperature information is equal to or greater than a second reference value and a position of the gear is reciprocated from one end to the other end a predetermined number of times while the first steering control module 110 controls the steering motor 600, the second steering control module 120 may control the steering motor 600 by making a transition to the master state. As the steering wheel repeats lock-to-lock movements, an amount of current flowing through the steering motor 600 increases, so it can be predicted that the first temperature information will increase rapidly. Accordingly, to control the steering motor for a longer period of time, the transition of the second control module may be executed to control the steering motor 600.

[0152] In one embodiment, the first reference value may be set differently according to a vehicle model, and may be set differently according to a situation and purpose. For example, if a lane is predicted to continuously run in a curved state, requiring heavy braking in the future, the first reference value may be changed to a lower value. In another embodiment, in the case of freight road vehicles, a large current is applied to move the gear teeth, and thus a corresponding reference value may be set to a lower value than the first reference value. Further, the second reference value may be set to a lower value than the first reference value, and when a difference between the second reference value and the first reference value is within a critical value, only the second reference value may be applied.

[0153] A computer system (not shown), such as the steering control device 100 or the like, may include at least one or more of one or more processors, memories, storage units, user interfaces for input, and user interfaces for output that communicate with each other via buses. The computer system may also include a network interface for accessing networks. The processor may be a CPU or a semiconductor element or device capable of executing processing instructions stored in the memory and / or storage unit. The memory and storage unit may include various types of volatile / non-volatile storage media. The random access memory may include ROM and RAM.

[0154] A steering control method using the steering control device 100 capable of carrying out all of the embodiments and examples described herein will be described below.

[0155] Fig. 8 is a flowchart illustrating a method for steering control according to aspects of the present disclosure.

[0156] Referring to Fig. 8, the steering control method according to aspects of the present disclosure may include: detecting respective internal temperatures of the first steering control module 110 and the second steering control module 120, at step S810, enabling the first steering control module 110 to transmit information about a first temperature, which is the internal temperature of the first steering control module 110, to the second steering control module 120, and receiving information about a second temperature, which is the internal temperature of the second steering control module 120, from the second steering control module 120, and the second steering control module 120 to transmit the second temperature information to the first steering control module 110 and receive the first temperature information from the first steering control module 110, at step S820, and enablingthat the first or second steering control module 110 or 120 enters the master state according to the first and second temperature information and controls a steering motor, at step 830.

[0157] In step S830, when the first temperature information is equal to or greater than the first reference value while the first steering control module 110 controls the steering motor 600, the second steering control module 120 may transition to the master state and control the steering motor 600.

[0158] In step S830, while the second steering control module 120 controls the steering motor 600 while the second temperature information is equal to or greater than the first reference value, and the first temperature information is equal to or greater than the first reference value when the second temperature information is less than the first temperature information, the second steering control module 120 may maintain control for the steering motor 600.

[0159] In step S830, when the first temperature information is equal to or greater than a second reference value and a position of the gear is reciprocated from one end to the other end a predetermined number of times while the first steering control module 110 controls the steering motor 600, the second steering control module 120 may enter the master state and control the steering motor 600.

[0160] Fig. 9 is a detailed illustration of step S830 in the steering control method according to aspects of the present disclosure.

[0161] Referring to Fig.9, the second steering control module 120 may determine whether the first temperature information is equal to or greater than the second reference value while the first steering control module 110 is controlling the steering motor 600, at step S910. The second steering control module 120 may receive the first temperature information, including the internal temperature of the first steering control module 110, from the first steering control module 110. Based on this, the second steering control module 120 may determine whether the first temperature information is equal to or greater than the preset second reference value.

[0162] If the first temperature information is equal to or greater than the second reference value (Yes in S910), the second steering control module 120 may determine whether a gear position remains at one end of the rack for a predetermined time at step S920. The second steering control module 120 may receive gear position information from a gear position sensor (not shown) that detects the gear position.

[0163] If the position of the gear does not remain at the end of the rack for a predetermined time (No in S920), the second steering control module 120 may determine whether the first temperature information is equal to or greater than the first reference value at step S930.

[0164] When the position of the gear teeth remains at the end of the rack for the predetermined time (Yes in S920), or when the first temperature information is equal to or greater than the first reference value (Yes in S930), the second steering control module 120 may transition to the master state to control the steering motor 600 at step S940.

[0165] As described above, therefore, according to the embodiments of the present disclosure, the steering control apparatus and the method,

[0166] By allowing the first steering control module 110 and the second steering control module 120 to transition according to their internal temperatures and alternately control the steering motor, it is possible to improve the stability of the power pack and the control limit for the steering motor.

[0167] Furthermore, according to the embodiments of the present disclosure, even if the first steering control module 110 does not malfunction, since an initiative to control the first steering control module 110 can transition to the second steering control module 120, the safety of the vehicle equipped with the embodiments and examples described herein can be improved in that the first and second steering control modules 110 and 120 are used more efficiently.

Claims

[1] Steering control device comprising: a first steering control module (110) and a second steering control module (120) capable of controlling a steering motor (600), wherein the first steering control module (110) comprises a first temperature sensor (111-1) for detecting an internal temperature of the first steering control module (110) and the second steering control module (120) comprises a second temperature sensor (121-1) for detecting an internal temperature of the second steering control module (120), wherein the first steering control module (110) transmits information about a first temperature from the first temperature sensor (111-1) to the second steering control module (120), and the second steering control module (120) receives the information about the first temperature and transmits information about a second temperature from the second temperature sensor (121-1) to the first steering control module (110), and wherein the first steering control module (110) and the second steering control module (120) make a transition based on the information about the first temperature and the information about the second temperature, and the first steering control module (110) or the second steering control module (120) controls the steering motor (600); characterized by , that, if, during control of the steering motor (600) by the first steering control module (110), the first temperature information is greater than or equal to a second reference value and a position of a toothing remains at one end of a rack for a predetermined time, the second steering control module (120) changes to a master status and controls the steering motor (600), and / or when, during control of the steering motor (600) by the first steering control module (110), the first temperature information is greater than or equal to a second reference value, and a position of a gear reciprocates from one end to the other end a predetermined number of times, the second steering control module (120) enters a master status and controls the steering motor (600). [2] Steering control device according to claim 1, characterized by that when, during control of the steering motor (600) by the first steering control module (110), the first temperature information is greater than or equal to a first reference value, the second steering control module (120) changes to a master status and controls the steering motor (600). [3] Steering control device according to claim 1 or 2, characterized bythat when, during control of the steering motor (600) by the second steering control module (120), the second temperature information is greater than or equal to a first reference value, and the first temperature information is greater than or equal to the first reference value, if the second temperature information is less than the first temperature information, the second steering control module (120) maintains control for the steering motor (600). [4] A method for steering control, the method comprising: an internal temperature detection step for detecting respective internal temperatures of a first steering control module (110) and a second steering control module (120); a step of transmitting and receiving data, in which the first steering control module (110) and the second steering control module (120) are enabled to transmit information about a first temperature, which is an internal temperature of the first steering control module (110), and information about a second temperature, which is an internal temperature of the second steering control module (120), to and from each other; and a transition step of enabling the first steering control module (110) or the second steering control module (120) to control the steering motor (600) by transitioning based on the first temperature information and the second temperature information; characterized by that in the transition step, if, during control of the steering motor (600) by the first steering control module (110), the first temperature information is greater than or equal to a second reference value and a position of a toothing remains at one end of a rack for a predetermined time, the second steering control module (120) changes to a master status and controls the steering motor (600), and / or when, during control of the steering motor (600) by the first steering control module (110), the first temperature information is greater than or equal to a second reference value, and a position of a gear reciprocates from one end to the other end a predetermined number of times, the second steering control module (120) enters a master status and controls the steering motor (600). [5] Method according to claim 4, characterized byin that in the transition step, if during control of the steering motor (600) by the first steering control module (110) the first temperature information is greater than or equal to a first reference value, the second steering control module (120) goes into a master status and controls the steering motor (600). [6] Method according to claim 4 or 5, characterized by in that in the transition step, if during control of the steering motor (600) by the second steering control module (120), the second temperature information is greater than or equal to a first reference value, and the first temperature information is greater than or equal to the first reference value, if the second temperature information is less than the first temperature information, the second steering control module (120) maintains control for the steering motor (600).

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