STEERING CONTROL DEVICE AND METHOD

Abstract

Steering control device (10), comprising: a steering wheel (110, 210) which is shaped in such a way that it increases / decreases a linear distance to a rotation axis (211); a pressure sensor (220) which is provided in the steering wheel (210) to detect pressure exerted on the steering wheel (210); and a controller (160, 230) which determines a grip position based on the pressure applied to the steering wheel (210) as detected by the pressure sensor (220), calculates a steering torque correction coefficient based on a linear distance from the axis of rotation (211) of the steering wheel (210) to the determined grip position, corrects a steering torque based on the steering torque correction coefficient to calculate a final steering torque, and controls the power of a steering motor (170) based on the final steering torque. where the steering torque correction coefficient is inversely proportional to the linear distance between the determined grip position and the axis of rotation (211) of the steering wheel (210).

Description

BACKGROUND Subject area

[0001] The present embodiments relate to a steering control device and a method for correcting the steering torque.

[0002] US patent 2020 / 0353971A1 discloses a steering wheel shaped in such a way that, depending on the grip position, there are different distances between the grip position and the axis of rotation of the steering wheel.

[0003] DE 10 2017 122 558 A1 teaches the determination of a net steering wheel torque by compensating for an offset torque generated by the driver's grip style, whereby the grip style, i.e. grip strength and / or grip position, is determined by means of grip sensors.

[0004] DE 10 2016 219 047 A1 discloses a method for compensating a varying static disturbance torque caused by effective lever arms between the center of gravity and the axis of rotation of the steering wheel that depend on the steering wheel rotation angle. Description of the related technique

[0005] Power steering systems designed to reduce the driver's steering effort include hydraulic power steering systems (HPS systems), which assist the driver's steering effort using hydraulic pressure generated by a hydraulic pump, and motor-driven power steering systems (MDPS systems), which assist the driver's steering effort using the output torque of an electric motor.

[0006] When the MDPS system performs a steering assistance function in accordance with the driver's steering wheel input, the output torque (i.e., the assistance torque) of the electric motor (steering motor) can be controlled to assist steering according to the vehicle's driving conditions. Thus, compared to a hydraulic power steering system, the MDPS system provides significantly better steering performance and feel.

[0007] Accordingly, newer vehicles are largely equipped with MDPS systems, which are able to change and control the steering assistance force generated by the engine power in accordance with the driving conditions.

[0008] The MDPS system can include sensors, such as a steering angle sensor to detect the steering angle in accordance with the driver's steering wheel input and a torque sensor to detect the steering torque applied by the driver to the steering wheel, a control unit (MDPS ECU), and a steering motor (MDPS motor). The MDPS system can also include additional sensors, such as a wheel speed sensor, an engine speed sensor, and a yaw rate sensor.

[0009] The control unit receives and obtains driver steering input information, such as steering angle, steering angle velocity or steering torque, i.e. information about the steering wheel operation, and vehicle status information, such as vehicle speed, wheel speed, engine speed and yaw rate, from the sensors in order to control the drive and power of the steering motor.

[0010] When the torque sensor detects the steering torque, which is a torque input from the driver, the control unit regulates the drive of the steering motor in accordance with the detected driver steering torque to generate an adapted torque (hereinafter referred to as the 'assist torque') for steering support. The power of the steering motor is controlled based on the generated assist torque, and the steering motor can assist the driver's steering effort.

[0011] If the steering wheel has a circular shape and the distance from the axis of rotation of the steering wheel remains the same, even though the position of the driver's grip on the steering wheel changes, the distance between the position of the grip and the axis of rotation of the steering wheel remains unchanged, so that a support torque based on a constant steering torque is generated.

[0012] In a case where the steering wheel is circular but the distance from the steering axis varies, or if the steering wheel is not circular, the steering torque can change if the driver's grip position on the steering wheel changes, even though the driver is applying the same force. Consequently, when generating a steering assist torque based on this non-uniform steering torque, the driver may experience an irregular steering feel. SUMMARY

[0013] Against this background, the disclosure provides a steering control device and a method which are able to improve the driver's steering feel by correcting the steering torque due to a difference in linear distance despite a difference in linear distance from the axis of rotation in accordance with the position of the pressure exerted on the steering wheel which is shaped in such a way that the linear distance from the axis of rotation increases / decreases.

[0014] To achieve the aforementioned objectives, in one aspect the disclosure provides a steering control device which includes a steering wheel shaped to increase / decrease a linear distance to an axis of rotation, a pressure sensor provided in the steering wheel to detect pressure exerted on the steering wheel, and a control which determines a grip position based on the pressure exerted on the steering wheel as detected by the pressure sensor, calculates a steering torque correction coefficient based on a linear distance from the axis of rotation of the steering wheel to the determined grip position, corrects a steering torque based on the steering torque correction coefficient to calculate a final steering torque, and controls the power of a steering motor based on the final steering torque.where the steering torque correction coefficient is inversely proportional to the linear distance between the determined grip position and the axis of rotation of the steering wheel.

[0015] In another aspect, the disclosure provides a steering control method which includes a pressure sensing step, in which a pressure is determined that is exerted on a steering wheel shaped such that it increases / decreases a linear distance from an axis of rotation; a steering torque correction coefficient calculation step, in which a grip position is determined based on a detected pressure exerted on the steering wheel and a steering torque correction coefficient is calculated based on a linear distance from the axis of rotation of the steering wheel to the determined grip position; and a final steering torque calculation step, in which a final steering torque is calculated by correcting a steering torque based on the steering torque correction coefficient.where the steering torque correction coefficient is inversely proportional to the linear distance between the determined grip position and the axis of rotation of the steering wheel.

[0016] Advantageous further training opportunities arise from the sub-requirements.

[0017] In accordance with the disclosure, the steering control device and the associated method can improve the driver's steering feel by correcting the steering torque due to a difference in linear distance despite a difference in linear distance from the axis of rotation in accordance with the position of the pressure exerted on the steering wheel, which is shaped such that the linear distance from the axis of rotation increases / decreases. DESCRIPTION OF THE DRAWINGS

[0018] The above and further tasks, features and other advantages of the present disclosure are better understood from the following detailed description in conjunction with the accompanying drawings, in which: Fig. 1 is a view which schematically represents a steering control system in accordance with an embodiment; Fig. 2 is a block diagram which represents a steering control device in accordance with an embodiment of the disclosure; Fig. 3 is a view which represents a steering wheel in accordance with an embodiment; Fig. 4 is a view which represents the shape of a steering wheel in accordance with an embodiment in detail; Fig. 5 is a view which represents the position of a steering wheel on which pressure is applied, per section, in accordance with an embodiment; Fig. 6 is a view which represents the processing of pressure, which is detected in a plurality of sections, in accordance with an embodiment; Fig. 7 is a flowchart which represents a steering control procedure in accordance with an embodiment of the disclosure; and Fig. 8 is a view which illustrates steps 720 and 730 in accordance with an embodiment in detail. DETAILED DESCRIPTION

[0019] In the following description of examples or embodiments of the present disclosure, reference is made to the accompanying drawings, which show specific examples or embodiments that can be implemented for illustrative purposes and in which the same reference numerals and symbols can be used to designate the same or similar components, even if these are shown in different accompanying drawings. Furthermore, in the following description of examples or embodiments of the present disclosure, detailed descriptions of well-known functions and components included herein are omitted where it has been determined that the description would make the subject matter of the invention rather unclear in some embodiments of the present disclosure.The terms used herein, such as "comprehensive," "exhibiting," "containing," "consisting of," "made of," and "formed of," are generally intended to permit the addition of other components, unless the terms are used together with the qualifier "only / exclusively." As used herein, singular forms are intended to include plural forms unless the context clearly refers to the singular.

[0020] Terms such as "first," "second," "A," "B," "(A)," or "(B)" may be used herein to describe elements of the revelation. None of these terms are used to define the meaning, order, sequence, or number of elements, etc., but solely to distinguish the element in question from other elements.

[0021] When it is mentioned that a first element is "connected or coupled" to a second element, or that it "contacts or overlaps", etc., this is to be interpreted as meaning that the first element can not only be "directly connected or coupled" to the second element, or that it "directly contacts or overlaps", but also that a third element can be "arranged" between the first and the second element, or that the first and the second element can be "connected or coupled" via a fourth element, or that they "contact or overlap" via such a fourth element, etc. In this case, at least one of two or more elements that are "connected or coupled" to each other, or that "contact or overlap", etc., can include the second element.

[0022] When time-dependent terms, such as "afterwards", "subsequently", "next", "before", and the like, are used to describe processes or operations of elements or configurations, or sequences or steps of operational, processing, or manufacturing procedures, these terms may be used to describe non-consecutive or non-sequential processes or operations, provided they are not used together with the term "directly" or "immediately".

[0023] Furthermore, if arbitrary dimensions, relative sizes, etc., are specified, it must be taken into account that numerical values ​​for elements or characteristics, or corresponding information (e.g., level, area, etc.), have a tolerance or error range which can be caused by a wide variety of factors (e.g., process factors, internal or external influences, noise, etc.), even if no corresponding description is provided. Moreover, the term "can / might / might" encompasses all meanings of the term "can."

[0024] A steering control device 10 is described below with reference to the accompanying drawings in accordance with an embodiment of the disclosure.

[0025] Fig. Figure 1 is a view which schematically represents a steering control system 1 in accordance with an embodiment.

[0026] Referring to Fig. 1 The steering control system 1 can include a steering wheel 110, a column 120, a steering angle sensor 130, a torque sensor 140, a speed sensor 150, a control unit 160 and a steering motor 170.

[0027] The steering wheel 110 can be rotated by the driver. The steering wheel 110 can be coupled to the column 120. The shape of the steering wheel 110 can be circular, as shown in Fig. Figure 1 shows, but is not limited to this. The axis of rotation of the steering wheel 110 can refer to a center point coupled to the column 120.

[0028] The column 120 can be coupled to the steering wheel 110 and rotated together with the steering wheel 110. The shaft 120 can have a cylindrical shape.

[0029] The steering angle sensor 130 can detect the steering angle generated by the rotation of the steering wheel 110. The steering angle sensor 130 can output a steering angle signal that provides information about the steering angle.

[0030] The steering angle described above indicates the rotational position of the steering wheel 110, and the steering torque indicates a driver input torque, which is a torque applied by the driver to the steering wheel 110 while steering (that is, a torque with which the driver turns the steering wheel).

[0031] Furthermore, the steering angle velocity is a value of the rotational angular velocity of the steering wheel 110, which is obtained by a separate sensor or a differential signal of the steering angle sensor signal (steering angle signal), and indicates the speed at which the driver turns the steering wheel 110, that is, the steering speed.

[0032] The torque sensor 140 can detect a steering torque generated by the rotation of the steering wheel 110. When the steering torque is detected, the torque sensor 140 can output a steering torque signal, which indicates information about the steering torque.

[0033] The steering torque can be a torque exerted on the torsion bar located between the input and output axes of column 120. Therefore, the steering torque can be detected even if the steering wheel 110 is not turned, but is positioned in a twisted position off-center.

[0034] The speed sensor 150 can detect the speed of the vehicle and output a vehicle speed signal, which displays information about the vehicle speed.

[0035] The control unit 160 can receive the steering angle signal output by the steering angle sensor 130, the steering torque signal output by the torque sensor 140, and the vehicle speed signal output by the speed sensor 150. The control unit 160 can receive the steering angle signal and the steering torque signal, calculate a rack travel to provide steering assistance, and output a command current corresponding to the rack travel to the steering motor 170.

[0036] The control unit 160 can be implemented as hardware and software, such as an electronic control unit (ECU) which includes a microcontroller unit (MCU) 160, an inverter and a printed circuit board (PCB).

[0037] The steering motor 170 can be operated by receiving the command current from the controller 160. In other words, a support torque can be generated.

[0038] When the steering motor rotates 170 degrees, the column can be rotated 120 degrees, and the wheels are moved left or right by the operation of the rack and pinion mechanism, thus turning the vehicle.

[0039] Fig. Figure 2 is a block diagram which represents a steering control device 10 in accordance with an embodiment of the disclosure.

[0040] Referring to Fig. 2. A steering control device 10 in accordance with an embodiment of the disclosure may comprise a steering wheel 210, a pressure sensor 220 and a control unit 230.

[0041] In accordance with one embodiment of the disclosure, the steering control device 10 can be part of a device that performs an extended function of an advanced driver assistance system (ADAS) with which a carrier vehicle is equipped, in order to provide information that is helpful for driving the carrier vehicle or assisting the driver in the carrier vehicle.

[0042] ADAS can refer to different types of advanced driver assistance systems and can include, for example, autonomous emergency braking, a parking assist system (SPAS), blind spot detection (BSD), adaptive cruise control (ACC), a lane departure warning system (LDWS), a lane keeping assist system (LKAS), and a lane change assist system (LCAS). However, the embodiments of the disclosure are not limited to these.

[0043] Referring to Fig. 2. The steering control device 10 of the disclosure may have a steering wheel 210 which is shaped in such a way that it increases / decreases the linear distance from the axis of rotation.

[0044] The steering wheel 210 can be shaped such that it increases / decreases the linear distance from the axis of rotation. For example, the steering wheel 210 can be shaped such that it has a plurality of areas in which the linear distance from the axis of rotation of the steering wheel 210 increases / decreases where pressure is applied, depending on the position of the steering wheel 210. In this case, the plurality of areas can have a first area in which the linear distance from the axis of rotation of the steering wheel 210 increases clockwise, a second area in which the linear distance from the axis of rotation of the steering wheel 210 decreases clockwise, a third area in which the linear distance from the axis of rotation of the steering wheel 210 increases counterclockwise, and a fourth area in which the linear distance from the axis of rotation of the steering wheel 210 decreases counterclockwise.

[0045] The shape of the steering wheel 210 can be octagonal, but is not limited to this. For example, the shape of the steering wheel 210 can be triangular, square, or hexagonal, or it can be a conventional circular shape. In other words, if the axis of rotation of the steering wheel 210 is provided such that it deviates from the center point of the steering wheel 210, embodiments of the disclosure can be applied even if the steering wheel 210 has a circular shape. In other words, embodiments of the disclosure can be applied without restriction to any shape in which the linear distance from the axis of rotation of the steering wheel 210 can increase or decrease.

[0046] Referring to Fig. 2. The steering control device 10 of the disclosure may have a pressure sensor 220 which is provided in the steering wheel 210 to detect the pressure exerted on the steering wheel 210.

[0047] The pressure sensor 220 can be located in the steering wheel 210 to detect the pressure exerted on it. However, without limitation, the pressure sensor 220 can also be located on the rear surface of the steering wheel 210 to detect the pressure exerted on it. In other words, the pressure sensor 220 can be located in any position where the pressure exerted on the steering wheel 210 can be detected.

[0048] The pressure sensor 220 can detect the area in which pressure is exerted on the steering wheel 210. For example, the driver can grasp the pressure sensor 220 to detect the area in which pressure is exerted on the steering wheel 210.

[0049] Referring to Fig. 2. The steering control device 10 of the disclosure may have a control 230 which determines the grip position based on the pressure applied to the steering wheel 210 as detected by the pressure sensor 220, calculates a steering torque correction coefficient based on the linear distance from the axis of rotation of the steering wheel 210 to the determined grip position, calculates a final steering torque by correcting the steering torque based on the steering torque correction coefficient, and controls the power of the steering motor 170 based on the final steering torque.

[0050] The control unit 230 can determine the grip position based on the pressure applied to the steering wheel 210, as detected by the pressure sensor 220.

[0051] For example, the steering wheel 210 can be divided into a plurality of sections at predetermined intervals, and if the pressure exerted on the steering wheel 210 is detected in one section of the plurality of sections, the controller 230 can designate that section as the grip position. Furthermore, if the pressure exerted on the steering wheel 210 is detected in two consecutive sections of the plurality of sections, the controller 230 can designate the section with the larger area of ​​the two consecutive sections in which the pressure is detected as the grip position. In other words, the controller 230 can designate the section from the plurality of sections at predetermined intervals in which the pressure is detected as the grip position.

[0052] The control unit 230 can calculate the steering torque correction coefficient based on the linear distance from the axis of rotation of the steering wheel 210 in order to determine the grip position.

[0053] The steering torque correction coefficient calculated by the control unit 230 can be calculated based on the linear distance to the determined grip position, the number of grip positions and a reference distance from the axis of rotation of the steering wheel 210 to a preset grip position.

[0054] For example, the steering torque correction coefficient can be calculated by inputting the linear distance to the determined grip position, the number of grip positions, and the reference distance to the preset grip position into a predefined equation. However, without being limited to this, the steering torque correction coefficient can also be calculated using a mapping table that has been previously created and stored in accordance with the linear distance to the determined grip position, the number of grip positions, and the reference distance to the preset grip position.

[0055] The 230 control unit can calculate the final steering torque differently based on the number of handle positions.

[0056] For example, if a first grip position is determined in the left area of ​​the radial vertical line for the axis of rotation of the steering wheel 210, and a second grip position is determined in the right area of ​​the radial vertical line, the controller 230 can calculate a left steering torque correction coefficient based on a first linear distance from the axis of rotation of the steering wheel 210 to the first grip position and calculate a right steering torque correction coefficient based on a second linear distance from the axis of rotation of the steering wheel 210 to the second grip position.In this case, the control unit 230 can calculate the left steering torque and the right steering torque separately based on the first linear distance and the second linear distance, correct the left steering torque with the left steering torque correction coefficient and the right steering torque with the right steering torque correction coefficient, and calculate the final steering torque by summing the corrected left steering torque and the corrected right steering torque.

[0057] As another example, if the grip position is determined either in the left or right area of ​​the radial vertical for the axis of rotation of the steering wheel 210, the controller 230 can calculate the steering torque correction coefficient based on the linear distance from the axis of rotation of the steering wheel 210 to the determined grip position, correct the steering torque with the steering torque correction coefficient and calculate the corrected steering torque as the final steering torque.

[0058] The steering torque, which is used to calculate the left steering torque and the right steering torque separately, or the steering torque corrected with the steering torque correction coefficient, can represent the torque detected by the torque sensor.

[0059] Accordingly, the control unit 230 can calculate the final steering torque separately for the case in which the first grip position is determined in the left area and the second grip position is determined in the right area (the driver grips the steering wheel 210 with both hands), or the case in which the grip position is determined either in the left area or in the right area (the driver grips the steering wheel 210 with one hand).

[0060] The control unit 230 can control the operation of the steering motor 170 based on the final steering torque. Accordingly, it is possible to improve the driver's steering feel by correcting the steering torque due to a difference in linear distance from the axis of rotation, in accordance with the position of the pressure exerted on the steering wheel 210, which is shaped such that the linear distance from the axis of rotation increases / decreases.

[0061] The steering control device 10 is applicable to the steering control signal described above, but is not limited to it, and is also applicable to electronic steering systems (steer-by-wire / SbW systems).

[0062] Fig. Figure 3 is a view which represents a steering wheel 210 in accordance with an embodiment.

[0063] Referring to Fig. 3 The steering control device 10 of the disclosure may have a steering wheel 210 which is shaped in such a way that it increases / decreases the linear distance from the axis of rotation.

[0064] As autonomous vehicles develop, the steering wheel 210 will be used less frequently, making it necessary for it to be stowed or folded away for better space utilization. In other words, the steering wheel 210 can be pulled out or unfolded and grasped by the driver when the vehicle is being driven manually, and it can be stowed or folded away when the vehicle is being driven autonomously to better utilize the interior space.

[0065] Accordingly, the steering wheel 210 can have a wide variety of shapes, including a conventional circular shape. For example, the steering wheel 210 can be provided in a shape such as a slight oval or an oval with an angled lower end.

[0066] If the steering wheel 210 is oval-shaped, as described above, the steering torque may change due to the difference in distance from the axis of rotation, even though the driver applies the same force to the steering wheel 210, and the steering feel may be worse compared to a steering wheel 210 that is circular. If the user, referring to Fig. 3 for example, grasping the steering wheel 210 on two opposite sides of it and turning the steering wheel 210 with the force F FahrerThe steering torque can be determined by the linear distance between the axis of rotation 211 of the steering wheel 210 and the position of the steering wheel 210 held by the driver, as well as by the force exerted by the driver. The power of the steering motor 170 can then be controlled based on the detected steering torque to generate a support torque. In other words, the steering torque can be varied depending on the linear distance between the position of the steering wheel 210 held by the driver and the axis of rotation 211 of the steering wheel 210.

[0067] Accordingly, the distance from the pivot axis 211 of the steering wheel 210 can be changed depending on the position of the steering wheel 210 held by the driver, such that the steering torque can also be changed. Therefore, the generated support torque can cause the driver to perceive an irregular steering feel.

[0068] Nevertheless, embodiments of the disclosure can also be applied to the steering wheel 210 formed in a circular shape. Although the steering wheel 210 is formed in a circular shape, the distance between the position of the steering wheel 210 held by the driver and the axis of rotation 211 of the steering wheel 210 can be variable, for example, if the axis of rotation 211 of the steering wheel 210 is located outside the center of the steering wheel 210. In other words, embodiments of the disclosure can be applied without restriction to any shape of the steering wheel 210 in which the linear distance from the axis of rotation 211 increases / decreases. To prevent a deterioration of the steering feel, the disclosure may include a pressure sensor 220 for detecting the pressure exerted on the steering wheel 210. The pressure sensor 220 can transmit pressure information, which includes the position and intensity of the pressure exerted on the entire edge of the steering wheel 210, to the controller 230.

[0069] Fig. Figure 4 is a view which shows the shape of a steering wheel 210 in accordance with an embodiment in detail.

[0070] Fig. Figure 4 represents an example of the steering wheel 210. As described above, embodiments of the disclosure can be applied without restriction to any shape in which the linear distance from the axis of rotation increases / decreases.

[0071] Referring to Fig. 4 The steering wheel 210 can be shaped in such a way that it has a plurality of areas in which the linear distance from the axis of rotation 211 of the steering wheel 210 increases / decreases where pressure is applied, depending on the position of the steering wheel 210.

[0072] The majority of areas can have a first area 410 in which the linear distance from the axis of rotation 211 of the steering wheel 210 increases clockwise, a second area 420 in which the linear distance from the axis of rotation 211 of the steering wheel 210 decreases clockwise, a third area 430 in which the linear distance from the axis of rotation 211 of the steering wheel 210 increases counterclockwise, and a fourth area 440 in which the linear distance from the axis of rotation 211 of the steering wheel 210 decreases counterclockwise.

[0073] For example, the range in which the linear distance between the axis of rotation 211 and the steering wheel 210 is clockwise from G in Fig. 4 on A in Fig. 4 increased, the first area will be 410.

[0074] The area in which the linear distance between the axis of rotation 211 and the steering wheel 210 is clockwise from B in Fig. 4 on D in Fig. If 4 is reduced, the second area can be 420.

[0075] The area in which the linear distance between the axis of rotation 211 and the steering wheel 210 rotates counterclockwise from G' in Fig. 4 on A' in Fig. If 4 is increased, the third area can be 430.

[0076] The area in which the linear distance between the axis of rotation 211 and the steering wheel 210 rotates counterclockwise from B' in Fig. 4 on D' in Fig. If 4 is reduced, the fourth area can be 440.

[0077] The several areas described above are defined with reference to the linear distance (A to G, A' to G) between the axis of rotation 211 and the steering wheel 210, which has been briefly illustrated for clarity. The distance between the axis of rotation 211 and the steering wheel 210 in each of the areas can be defined relative to the outer surface of the steering wheel 210, but is not limited to this. For example, the distance between the axis of rotation 211 and the steering wheel 210 can also be defined relative to the inner surface of the steering wheel 210 or at an intermediate position between the outer and inner surfaces.

[0078] In one embodiment, the first area 410 and the third area 430 can be bilaterally symmetrical with respect to a previously defined straight line which passes through the axis of rotation 211 of the steering wheel 210 and divides the steering wheel 210 into the left area and the right area, and the second area 420 and the fourth area 440 can be bilaterally symmetrical with respect to the straight line described above.

[0079] For example, the first area 410 and the third area 430, or the second area 420 and the fourth area 440, can be defined with respect to a previously defined straight line (not shown) passing through a midpoint between G and G'. Fig. The line segment 4 and a midpoint between D and D' must be bilaterally symmetrical. In other words, A and A' are equidistant, and G and G' are equidistant.

[0080] Fig. Figure 5 is a view showing the position of a steering wheel 210, on which pressure is applied, per section in accordance with an embodiment.

[0081] Referring to Fig. 5 The steering wheel 210 can be divided into a plurality of sections at predetermined intervals, and if the pressure exerted on the steering wheel 210 is detected in one section of the plurality of sections, the control 230 can define the section as the grip position.

[0082] The steering wheel 210 can be divided into a plurality of sections at predetermined intervals. The interval can be determined based on the linear distance from the axis of rotation 211. In other words, the interval can be preset as a section that includes each of the points capable of distinguishing the linear distance from the axis of rotation 211.

[0083] If the pressure applied to the steering wheel 210 is detected in one section of the plurality of sections, the control unit 230 can determine that this section is the grip position.

[0084] If the pressure exerted on the steering wheel 210 is detected by the pressure sensor 220, for example in section 1-L and section 1-R of the majority of sections, and pressure information is received from the pressure sensor 220, the controller 230 can determine that sections 1-L and 1-R are grip positions.

[0085] If, as another example, the pressure exerted on the steering wheel 210 is only detected by the pressure sensor 220 in section 1-L of the majority of sections, and pressure information is received from the pressure sensor 220, the controller 230 can determine that 1-L is the grip position. Fig. Figure 6 is a view which represents the processing of pressure detected in a plurality of sections in accordance with an embodiment.

[0086] If, referring to Fig. 6, if the pressure exerted on the steering wheel 210 is detected in two successive sections of the majority of sections, the control 230 can determine that the section with the larger area of ​​the two successive sections in which the pressure is detected is the grip position.

[0087] If, as in Fig. As shown in Figure 6, if the pressure exerted on the steering wheel 210 is detected by the pressure sensor 220, for example in two consecutive sections 1-L and 2-L of the majority of sections, and pressure information is received, the controller 230 can determine that the larger section 1-L of the two consecutive sections is the grip position.

[0088] The steering torque correction coefficient can be calculated based on the linear distance to the determined grip position, the number of grip positions and a reference distance from the axis of rotation 211 of the steering wheel 210 to a preset grip position.

[0089] For example, the steering torque correction coefficient can be calculated using equation 1 below. 2×Standard spacingNumber of handles×Spacing

[0090] In Equation 1, the distance is the linear distance from the axis of rotation 211 of the steering wheel 210 to the determined grip position, and the grip number is the number of determined grip positions. In Equation 1, the standard distance is a reference distance from the axis of rotation 211 of the steering wheel 210 to a preset grip position.

[0091] The linear distance from the axis of rotation 211 of the steering wheel 210 to the determined grip position can be a linear distance that is preset and stored according to the grip position. If, for example, with reference to the Fig. 5 and Fig. 6. If the grip position has been determined as section 1-L, then A, which is the linear distance that has been preset and stored according to section 1-L, can be the linear distance to the determined grip position. As another example, if the grip position has been determined as section 2-L, then B, which is the linear distance that has been preset and stored according to section 2-L, can be the linear distance to the determined grip position.

[0092] The number of grip positions can be the number of positions in which the driver grips the steering wheel 210. For example, if the driver grips the steering wheel 210 with both hands, the number of grip positions can be 2, and if the driver grips the steering wheel 210 with one hand, the number of grip positions can be 1.

[0093] The reference distance from the pivot axis 211 of the steering wheel 210 to the preset grip position can be a distance that has been set based on the grip position in which the driver normally holds the steering wheel. Referring to the Fig. 5 and Fig. 6. The grip positions at which the driver grasps the steering wheel 210 can be sections 2-L and 2-R, in which case the reference distance can be set to B, since B and B' are the same distance. However, without restriction, the reference distance can be set to E based on sections 5-L and 5-R, which are the grip positions, or it can be set to A based on sections 1-L and 1-R, which are the grip positions furthest from the axis of rotation 211 of the steering wheel 210.

[0094] An example in which the reference distance is A is described below, but embodiments of the disclosure are not limited to this.

[0095] If a first grip position is determined in the left area of ​​the radial vertical line for the axis of rotation 211 of the steering wheel 210, and a second grip position is determined in the right area of ​​the radial vertical line, the controller 230 can calculate a left steering torque correction coefficient based on a first linear distance from the axis of rotation 211 of the steering wheel 210 to the first grip position and calculate a right steering torque correction coefficient based on a second linear distance from the axis of rotation 211 of the steering wheel 210 to the second grip position.Furthermore, the control unit 230 can calculate the left steering torque and the right steering torque separately based on the first linear distance and the second linear distance, correct the left steering torque with the left steering torque correction coefficient and the right steering torque with the right steering torque correction coefficient, and calculate the final steering torque by summing the corrected left steering torque and the corrected right steering torque.

[0096] Grip positions and the force exerted by the driver on the steering wheel 210 are described as an example, but embodiments of the disclosure are not limited thereto.

[0097] If the driver grips the steering wheel 210 with both hands, so that the number of grip positions is 2, embodiments of the disclosure can be applied.

[0098] For example, the first grip position can be determined in section 1-L of the left area of ​​the radial vertical line for the axis of rotation 211 of the steering wheel 210, and the second grip position can be determined in section 2-R of the right area. In this case, the controller 230 can calculate the left steering torque correction coefficient as 1 by entering 1A as the linear distance to section 1-L, 2 as the number of grip positions, and A as the reference distance in the equation above. Furthermore, the controller 230 can calculate the right steering torque correction coefficient as A / B by entering 1B as the linear distance to section 2-R, 2 as the number of grip positions, and A as the reference distance in the equation above.

[0099] Since the steering torque is a value measured by the torque sensor, and thus the sum of the torque based on the forces exerted on the left and right sides of the steering wheel 210, and represents the respective distances, the steering torque should be calculated separately as the left steering torque and the right steering torque so that they can be appropriately corrected. In a case where F Fahrer The steering torque (A+B)*F, measured by the steering torque sensor, is exerted by the driver, for example, on both the left and right sides of the steering wheel 210. Fahrer If the first linear distance is A, and the second linear distance is B, then the control 230 can calculate the left steering torque as A*F. Fahrer and the right steering torque as B*F Fahrer calculate.

[0100] Furthermore, the control unit 230 can adjust the left steering torque by multiplying the left steering torque A*F.Fahrer Correct the left steering torque correction coefficient by 1, and the right steering torque by multiplying the right steering torque B*F. Fahrer Correct with the right steering torque correction coefficient A / B and the corrected left steering torque A*F Fahrer and the corrected right steering torque A*F Fahrer sum them to determine the final steering torque 2A*F Fahrer to obtain.

[0101] If the driver grips the steering wheel 210 with one hand, so that the number of grip positions is 1, embodiments of the disclosure can be applied.

[0102] If, for example, the grip position is determined either in the left area or in the right area of ​​the radial vertical for the axis of rotation 211 of the steering wheel 210, the control unit 230 can correct the steering torque with the steering torque correction coefficient and calculate the corrected steering torque as the final steering torque.

[0103] If the driver grips the steering wheel 210 with one hand, the grip position can be determined as section 2-L, which is either the left or right section of the steering wheel 210. In this case, the controller 230 can calculate the steering torque correction coefficient as 2A / B by entering 1B as the linear distance to section 2-L, 1 as the number of grip positions, and A as the reference distance in the equation above.

[0104] Since the steering torque is a value measured by the torque sensor, and thus the torque is calculated based on the force exerted on the left or right side of the steering wheel 210 and the distance, the steering torque can even be corrected without dividing it into left and right steering torque. For example, if the driver... FahrerThe steering torque is measured by the steering torque sensor B*F when applied to the left or right area of ​​the steering wheel 210. Fahrer Given that the linear distance B is, the control unit 230 can correct the steering torque by adjusting the steering torque B*F. Fahrer multiplied by the steering torque correction coefficient 2A / B, and the corrected 2A*F Fahrer than calculate the final steering torque.

[0105] As described above, the 230 controller can calculate the final steering torque based on the linear distance to the determined grip position, the number of grip positions, and the steering torque, but it is not limited to this. For example, the 230 controller can also calculate the final steering torque based on a table that has been previously saved based on the linear distance to the determined grip position, the number of grip positions, and the steering torque.

[0106] Table 1 below shows an example of the previously saved table. [Table 1] Nr . Griffanzahl Griffposition LinearerAbstand KraftdesFahrers Lenkmomentvor Korrektur Lenkmomentkorrekturkoffizient KorrigiertesLenkmoment EndgültigesLenkmoment 1 2 1-L A F Fahrer A*F Fahrer 1 A*F Fahrer 2AF Fahrer 1-R A F Fahrer A*F Fahrer 1 A*F Fahrer 2 2 2-L B F Fahrer B*F Fahrer A / B A*F Fahrer 2AF Fahrer 2-R B F Fahrer B*F Fahrer A / B A*F Fahrer 3 2 3-L C F Fahrer C*F Fahrer A / C A*F Fahrer 2AF Fahrer 3-R C F Fahrer C*F Fahrer A / C A*F Fahrer 4 2 1-L A F Fahrer A*F Fahrer 1 A*F Fahrer 2AF Fahrer 2-R B F Fahrer B*F Fahrer A / B A*F Fahrer 5 2 3-L C F Fahrer C*F Fahrer A / C A*F Fahrer 2AF Fahrer 6-R F F Fahrer F*F Fahrer A / F A*F Fahrer 6 1 2-L B F Fahrer B*F Fahrer 2A / B (A+A)F Fahrer 2AF Fahrer 7 1 3-R C F Fahrer C*F Fahrer 2A / C (A+A)F Fahrer 2AF Fahrer

[0107] A computer system (not shown), such as the steering control unit 10, can be implemented as an electronic control unit (ECU). The ECU can have at least one or more processors, memory, a storage unit, an operator interface input unit, or an operator interface output unit, which can communicate with each other via a bus. The computer system can also have a network interface for accessing a network. The processor can be a central processing unit (CPU) or a semiconductor device that executes processing instructions stored in memory and / or the storage unit. The memory and storage unit can have different types of volatile / non-volatile storage media. For example, the memory can have read-only memory (ROM) and random-access memory (RAM).

[0108] The following describes a steering control method using the steering control device 10, which is capable of performing the embodiments of the disclosure described above.

[0109] Fig. Figure 7 is a flowchart which represents a steering control procedure in accordance with an embodiment of the disclosure.

[0110] Referring to Fig. 7. A steering control method in accordance with the disclosure may include a step S210 for pressure detection, in which a pressure is determined that is exerted on a steering wheel which is shaped such that it increases / decreases a linear distance from an axis of rotation; a step S720 for calculating a steering torque correction coefficient, in which a grip position is determined based on the detected pressure exerted on the steering wheel and a steering torque correction coefficient is calculated based on a linear distance from the axis of rotation of the steering wheel to the determined grip position; and a step S730 for calculating a final steering torque, in which a final steering torque is calculated by correcting a steering torque based on the steering torque correction coefficient. The steering wheel may be shaped such that the linear distance from the axis of rotation increases / decreases.For example, the steering wheel can be shaped such that it has multiple zones in which the linear distance from the steering wheel's axis of rotation increases or decreases depending on the steering wheel's position where pressure is applied. In this case, the multiple zones can include a first zone where the linear distance from the steering wheel's axis of rotation increases clockwise, a second zone where the linear distance from the steering wheel's axis of rotation decreases clockwise, a third zone where the linear distance from the steering wheel's axis of rotation increases counterclockwise, and a fourth zone where the linear distance from the steering wheel's axis of rotation decreases counterclockwise.

[0111] However, without being limited thereto, embodiments of the disclosure can be applied without restriction to any form in which the linear distance from the axis of rotation of the steering wheel can increase / decrease.

[0112] In the pressure sensing step, the pressure exerted on the steering wheel can be detected by the pressure sensor. The pressure sensor can be positioned anywhere it is capable of detecting the pressure exerted on the steering wheel.

[0113] Although in Fig. Not shown in Figure 7, the steering control method can further include controlling the power of the steering motor based on the final steering torque. Accordingly, it is possible to improve the driver's steering feel by correcting the steering torque due to a difference in linear distance from the axis of rotation, in accordance with the position of the pressure exerted on the steering wheel, which is shaped such that the linear distance from the axis of rotation increases / decreases.

[0114] Fig. Figure 8 is a view that illustrates steps 720 and 730 in accordance with an embodiment in detail.

[0115] Referring to Fig. 8. The steering control procedure can determine the grip position based on the detected pressure applied to the steering wheel (S810).

[0116] For example, the steering wheel can be divided into a plurality of sections at predetermined intervals, and if the pressure applied to the steering wheel is detected in one section of the plurality of sections, the step for calculating the steering torque correction coefficient can designate that section as the grip position. Furthermore, if the pressure applied to the steering wheel is detected in two consecutive sections of the plurality of sections, the step for calculating the steering torque correction coefficient can designate the section with the larger area of ​​the two consecutive sections where the pressure is detected as the grip position. In other words, the step for calculating the steering torque correction coefficient can designate the section from the plurality of sections at predetermined intervals where the pressure is detected as the grip position.

[0117] The steering torque correction coefficient can be calculated based on the linear distance to the determined grip position, the number of grip positions, and a reference distance from the steering wheel's axis of rotation to a preset grip position.

[0118] For example, the steering torque correction coefficient can be calculated by inputting the linear distance to the determined grip position, the number of grip positions, and the reference distance to the preset grip position into a predefined equation. However, without being limited to this, the steering torque correction coefficient can also be calculated using a mapping table that has been previously created and stored in accordance with the linear distance to the determined grip position, the number of grip positions, and the reference distance to the preset grip position.

[0119] The step for calculating the steering torque correction coefficient can calculate the final steering torque differently based on the number of grip positions. For example, the step for calculating the steering torque correction coefficient can detect whether the number of grip positions has been set to two (S820).

[0120] For example, if a first grip position is determined in the left region of the radial vertical line for the axis of rotation of the steering wheel, and a second grip position is determined in the right region of the radial vertical line, the step to calculate the steering torque correction coefficient can calculate a left steering torque correction coefficient based on a first linear distance from the axis of rotation of the steering wheel to the first grip position and calculate a right steering torque correction coefficient based on a second linear distance from the axis of rotation of the steering wheel to the second grip position (S830).

[0121] In this case, the step to calculate the steering torque correction coefficient can calculate the left steering torque and the right steering torque separately based on the first linear distance and the second linear distance (S840), correct the left steering torque with the left steering torque correction coefficient and the right steering torque with the right steering torque correction coefficient (S850), and calculate the final steering torque by summing the corrected left steering torque and the corrected right steering torque (S860).

[0122] In the step to calculate the steering torque correction coefficient, the case in which the number of handle positions has not been set to two can represent the case in which the number of handle positions has been set to one.

[0123] If, for example, the grip position is determined either in the left or right region of the radial vertical to the steering wheel's axis of rotation, the step to calculate the steering torque correction coefficient can calculate the steering torque correction coefficient based on the linear distance from the steering wheel's axis of rotation to the determined grip position (S870), correct the steering torque using the steering torque correction coefficient (S880), and calculate the corrected steering torque as the final steering torque (S860). In other words, the corrected steering torque can be the final steering torque if the number of grip positions has been set to one.

[0124] The steering torque, which is used to calculate the left steering torque and the right steering torque separately, or the steering torque corrected with the steering torque correction coefficient, can represent the torque detected by the torque sensor.

[0125] As described above, the steering control device and the associated method can, in accordance with the disclosure, improve the driver's steering feel by correcting the steering torque due to a difference in linear distance despite a difference in linear distance from the axis of rotation, in accordance with the position of the pressure exerted on the steering wheel, which is shaped such that the linear distance from the axis of rotation increases / decreases.

[0126] The above description has been set forth to enable all persons skilled in the art to implement and use the technical idea of ​​this disclosure and has been provided in connection with a specific application and its requirements. Various modifications, additions, and substitutions of the described embodiments are readily apparent to trained professionals, and the general principles defined herein can be applied to other embodiments and applications without departing from the intent and scope of this disclosure. The above description and the accompanying drawings provide an example of the technical idea of ​​this disclosure solely for illustrative purposes. This means that the disclosed embodiments are intended to illustrate the scope of the technical idea of ​​this disclosure.Therefore, the scope of the present disclosure is by no means limited to the embodiments shown; rather, it is to be accorded the broadest scope in accordance with the claims. The scope of protection of the present disclosure is to be interpreted on the basis of the following patent claims, and all technical ideas within the scope of correspondences thereto are to be considered as included in the scope of the present disclosure.

Claims

[1] Steering control device (10), comprising: a steering wheel (110, 210) which is shaped in such a way that it increases / decreases a linear distance to a rotation axis (211); a pressure sensor (220) which is provided in the steering wheel (210) to detect pressure exerted on the steering wheel (210); and a controller (160, 230) which determines a grip position based on the pressure applied to the steering wheel (210) as detected by the pressure sensor (220), calculates a steering torque correction coefficient based on a linear distance from the axis of rotation (211) of the steering wheel (210) to the determined grip position, corrects a steering torque based on the steering torque correction coefficient to calculate a final steering torque, and controls the power of a steering motor (170) based on the final steering torque. where the steering torque correction coefficient is inversely proportional to the linear distance between the determined grip position and the axis of rotation (211) of the steering wheel (210). [2] Steering control device (10) according to claim 1, characterized by , that the steering wheel (210) is provided in a form which has a plurality of areas which increase / decrease the linear distance from the axis of rotation (211) of the steering wheel (210) where the pressure is applied, depending on a position of the steering wheel (210), and wherein the plurality of areas has: a first area (410) in which the linear distance from the axis of rotation (211) of the steering wheel (210) increases clockwise; a second area (420) in which the linear distance from the axis of rotation (211) of the steering wheel (210) decreases in a clockwise direction; a third area (430) in which the linear distance from the axis of rotation (211) of the steering wheel (210) increases counterclockwise; and a fourth area (440) in which the linear distance from the axis of rotation (211) of the steering wheel (210) decreases counterclockwise. [3] Steering control device (10) according to claim 1, characterized by , that the steering wheel (210) is divided into a plurality of sections at predetermined intervals, and wherein, if the pressure exerted on the steering wheel (210) is detected in one section of the plurality of sections, the control (160, 230) determines that the section is the grip position. [4] Steering control device (10) according to claim 3, characterized by, that if the pressure applied to the steering wheel (210) is detected in two successive sections of the majority of sections, the control (160, 230) determines that a larger area section of the two successive areas in which the pressure is detected is the grip position. [5] Steering control device (10) according to claim 1, characterized by , that the steering torque correction coefficient is calculated based on a linear distance to the determined grip position, a number of grip positions and a reference distance from the axis of rotation (211) of the steering wheel (110, 210) to a preset grip position. [6] Steering control device (10) according to claim 1, characterized by, that if a first grip position and a second grip position are determined in a left area and a right area respectively with respect to a radial vertical line for the axis of rotation (211) of the steering wheel (110, 210), the control (160, 230) calculates a left steering torque correction coefficient based on a first linear distance from the axis of rotation (211) of the steering wheel (110, 210) to the first grip position, and calculates a right steering torque correction coefficient based on a second linear distance from the axis of rotation (211) of the steering wheel (110, 210) to the second grip position. [7] Steering control device (10) according to claim 6, characterized by, that the control (160, 230) calculates the steering torque as a left steering torque and a right steering torque based on the first linear distance and the second linear distance respectively separately, corrects the left steering torque with the left steering torque correction coefficient, corrects the right steering torque with the right steering torque correction coefficient, and sums the corrected left steering torque and the corrected right steering torque to calculate the final steering torque. [8] Steering control device (10) according to claim 1, characterized by , that if the grip position is determined to be in either a left area or a right area with respect to a radial vertical for the axis of rotation (211) of the steering wheel (110, 210), the control (160, 230) corrects the steering torque with the steering torque correction coefficient and calculates the corrected steering torque as the final steering torque. [9] Steering control procedures, including: a step of sensing a pressure in which a pressure exerted on the steering wheel (110, 210), which is shaped in such a way that a linear distance from a rotation axis (211) increases / decreases, is sensed; a step in the calculation of a steering torque correction coefficient, in which a grip position is determined based on the detected pressure exerted on the steering wheel (110, 210) and a steering torque correction coefficient is calculated based on a linear distance from the axis of rotation (211) of the steering wheel (110, 210) to the determined grip position; and a step in the calculation of a final steering torque, in which a final steering torque is calculated by correcting a steering torque based on the steering torque correction coefficient, where the steering torque correction coefficient is inversely proportional to the linear distance between the determined grip position and the axis of rotation (211) of the steering wheel (110, 210). [10] Steering control method according to claim 9, characterized by , that the steering wheel (110, 210) is provided in a form which has a plurality of areas which increase / decrease the linear distance from the axis of rotation (211) of the steering wheel (110, 210) where the pressure is applied, depending on a position of the steering wheel (110, 210), and wherein the plurality of areas has: a first area (410) in which the linear distance from the axis of rotation (211) of the steering wheel (110, 210) increases clockwise; a second area (420) in which the linear distance from the axis of rotation (211) of the steering wheel (110, 210) decreases in a clockwise direction; a third area (430) in which the linear distance from the axis of rotation (211) of the steering wheel (110, 210) increases counterclockwise; and a fourth area (440) in which the linear distance from the axis of rotation (211) of the steering wheel (110, 210) decreases counterclockwise. [11] Steering control method according to claim 9, characterized by , that the steering wheel (110, 210) is divided into a plurality of sections at predetermined intervals, and wherein, if the pressure applied to the steering wheel (110, 210) is detected in one section of the plurality of sections, the step for calculating the steering torque correction coefficient specifies that the section is the grip position. [12] Steering control method according to claim 11, characterized by, that if the pressure applied to the steering wheel (110, 210) is detected in two successive sections of the majority of sections, the step for calculating the steering torque correction coefficient specifies that a larger area section of the two successive areas in which the pressure is detected is the grip position. [13] Steering control method according to claim 9, characterized by , that the steering torque correction coefficient is calculated based on a linear distance to the determined grip position, a number of grip positions and a reference distance from the axis of rotation (211) of the steering wheel (110, 210) to a preset grip position. [14] Steering control method according to claim 9, characterized by, that if a first grip position and a second grip position are determined in a left area and a right area respectively with respect to a radial vertical line for the axis of rotation (211) of the steering wheel (110, 210), the step to calculate the steering torque correction coefficient calculates a left steering torque correction coefficient based on a first linear distance from the axis of rotation (211) of the steering wheel (110, 210) to the first grip position, and calculates a right steering torque correction coefficient based on a second linear distance from the axis of rotation (211) of the steering wheel (110, 210) to the second grip position. [15] Steering control method according to claim 14, characterized by, that the step to calculate the steering torque correction coefficient calculates the steering torque as a left steering torque and a right steering torque based on the first linear distance and the second linear distance respectively separately, corrects the left steering torque with the left steering torque correction coefficient, corrects the right steering torque with the right steering torque correction coefficient, and sums the corrected left steering torque and the corrected right steering torque to calculate the final steering torque. [16] Steering control method according to claim 9, characterized by, that if the grip position is determined either in a left area or in a right area with respect to a radial vertical for the axis of rotation (211) of the steering wheel (110, 210), the step to calculate the final steering torque corrects the steering torque with the steering torque correction coefficient and calculates the corrected steering torque as the final steering torque.

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