STEERING CONTROL DEVICE, STEERING ASSISTANCE DEVICE AND METHOD

Abstract

A steering control device that controls an input-side steering motor included in an input-side steering actuator to assist an input-side mechanism (110) connected to a steering wheel (140), and an output-side steering motor included in an output-side steering actuator to assist an output-side mechanism (120) that is mechanically separated from the input-side mechanism (110) and connected to a wheel (150), comprising: a determining device (51) configured to determine whether a ground test should be performed based on vehicle condition information; and a diagnostic controller configured, when the determining means (51) determines to perform the ground test, to analyze a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency range, and to compare an analysis result with preset normal data to perform a diagnosis of a steering system; characterized in that the determining means (51) determines: whether the steering system is initiated by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a vehicle stop state based on vehicle speed information, and determining a ground check state based on ground check information, wherein the input-side steering controller determines to initiate the steering system when the vehicle ignition is in the ON state, a vehicle is in the vehicle stop state, and the ground check is completed; and / or whether a synchronization check should be performed by determining a state of signal generation for the opened driver's door of a vehicle on the basis of information about the driver's door of the vehicle and determining a system initiation state on the basis of information about the system initiation, wherein the determining means (51) determines to perform the synchronization check when the signal for the opened driver's door is generated and the steering system is in the system initiation state; and / or whether steering assistance is initiated by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a synchronization check state based on synchronization check information, and determining a fault state of the steering system based on fault information, wherein the input-side steering controller determines to initiate steering assistance when the vehicle ignition is in the ON state, synchronization is completed, and the steering system is not in the fault state.

Description

TECHNICAL FIELD

[0001] An embodiment of the present disclosure relates to a steering control device and a steering assist device and method. BACKGROUND

[0002] In general, a steering system refers to a system capable of changing the steering angle of a wheel based on the steering force (or turning force) applied by a vehicle driver to a steering wheel. Recently, electric power steering (ESL) systems have been installed in vehicles to reduce the steering force and ensure stability of the steering state.

[0003] Recently, there has been a need for a systematic and accurate diagnostic procedure for a vehicle's steering system.

[0004] German patent DE 10 2019 111 415 B4 relates to a system for passively and actively monitoring and evaluating an electric power steering system with the features of the preamble. Japanese patent application JP 2004-155 282 A relates to a vehicle control apparatus. DEMOLITION

[0005] Embodiments of the present invention provide a steering control device according to claim 1, each of which enables a systematic and accurate determination of whether a steering system is initiated and / or steering assistance is initiated. Specific embodiments are specified in the dependent claims.

[0006] Furthermore, embodiments of the present invention provide a steering assist device according to claim 10 that enables a systematic and accurate determination of whether a steering system is initiated and / or steering assistance is initiated.

[0007] Furthermore, embodiments of the present invention provide a steering assistance method according to claim 14 that enables a systematic and accurate determination of whether a steering system is initiated and / or steering assistance is initiated.

[0008] In one aspect of the present disclosure, the present embodiments may provide a steering control device that controls an input-side steering motor included in an input-side steering actuator to assist an input-side mechanism connected to a steering wheel, and an output-side steering motor included in an output-side steering actuator to assist an output-side mechanism that is mechanically separated from the input-side mechanism and connected to a wheel, with a determination device configured to determine, based on vehicle state information, whether a ground test should be performed, and a diagnosis controller configured to, when the determination device determines that the ground test should be performed,analyzes a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain and compares an analysis result with preset normal data to diagnose a steering system.,

[0009] In another aspect of the present disclosure, the present embodiments may provide a steering assist device including an input-side steering actuator for assisting an input-side mechanism connected to a steering wheel, an output-side steering actuator mechanically separated from the input-side mechanism and assisting an output-side mechanism connected to a wheel, an input-side steering controller for controlling an input-side steering motor included in the input-side steering actuator, and an output-side steering controller for controlling an output-side steering motor included in the output-side steering actuator, wherein the input-side steering controller is configured to determine whether to perform a ground check based on vehicle state information,and determines an input value of the output-side steering motor based on the determination, and wherein, when the input-side steering controller determines that the ground test should be performed, the output-side steering controller is configured to analyze a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain and compare an analysis result with preset normal data to diagnose a steering system.

[0010] In another aspect of the present disclosure, the present embodiments may provide a steering assist method for controlling an input-side steering motor included in an input-side steering actuator to assist an input-side mechanism connected to a steering wheel, and for controlling an output-side steering motor included in an output-side steering actuator to assist an output-side mechanism that is mechanically separated from the input-side mechanism and connected to a wheel, including determining whether to perform a ground test based on vehicle condition information and diagnosing a steering system in the case where it is determined to perform the ground test,by analyzing a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain and comparing an analysis result with preset normal data.,

[0011] According to the embodiments of the present disclosure, a steering control apparatus can be provided that enables systematic and accurate diagnosis.

[0012] Furthermore, according to the embodiments of the present disclosure, a steering assist device can be provided that enables systematic and accurate diagnosis.

[0013] Furthermore, according to the embodiments of the present disclosure, a steering assist method can be provided that enables systematic and accurate diagnosis. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a schematic block diagram for explaining a steering system according to the present embodiments. Fig. 2 is a diagram for explaining a steering device according to the present embodiments. Fig. 3 is a diagram for explaining a steering assist device according to the present embodiments. Fig. 4 is a diagram for explaining the input-side steering assist device according to the present embodiments. Fig. 5 is a diagram for explaining an output-side steering assist device according to the present embodiments. Fig. 6 is a diagram for explaining an input-side steering control and an output-side steering control according to the present embodiments. Fig. 7 and Fig. 8 are diagrams for explaining a steering control according to the present embodiments. Fig. Figures 9 to 10 are diagrams explaining a diagnostic procedure for a steer-by-wire (SbW) system. Fig. 11 to 13 are flowcharts for explaining a steering assist method according to the present embodiments. Fig. 14 is a block diagram of a computer system for the steering control device, the steering assist device, and the steering system according to the present embodiments. DETAILED DESCRIPTION

[0014] In the following description of examples or embodiments of the present disclosure, reference is made to the accompanying drawings, in which, for illustrative purposes, specific examples or embodiments that may be implemented are shown, and in which the same reference numbers and characters may be used to refer to 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 incorporated herein are omitted when it is determined that the description might obscure the subject matter of some embodiments of the present disclosure.As used herein, terms such as "including," "with," "containing," "consisting of," and "formed of" are generally intended to permit the addition of other components unless the terms are used with the term "exclusively." As used herein, singular forms include plural forms unless the context clearly indicates otherwise.

[0015] Terms such as "first," "second," "A," "B," "(A)," or "(B)" may be used herein to describe elements of the disclosure. These terms are not used to define the nature, order, sequence, or number of the elements, etc., but merely serve to distinguish the respective element from other elements.

[0016] When it is said that a first element is “connected or coupled” to a second element, “touches or overlaps” it, etc., this should be understood to mean that not only can the first element be “directly connected or coupled” to the second element, or “directly touch or overlap” it, but also that a third element can be “interposed” between the first and second elements, or that the first and second elements can be “connected or coupled” to each other via a fourth element, “touch or overlap” it, etc. The second element can be included in at least one of two or more elements that are “connected or coupled”, “touch or overlap” each other, etc.

[0017] When time-related terms such as "after", "subsequent to", "next", "before" and the like are used to describe processes or operations of elements or configurations or of sequences or steps in methods of operation, processing and manufacturing, these terms may be used to describe non-consecutive or non-sequential processes or operations unless the term "direct" or "immediate" is used together.

[0018] Furthermore, when citing dimensions, relative sizes, etc., it should be noted that numerical values ​​for an element or characteristic, or corresponding information (e.g., level, range, etc.), include a tolerance or error range that may be caused by various factors (e.g., process factors, internal or external influences, noise, etc.), even if no corresponding description is provided. Furthermore, the term "may" includes all meanings of the term "can."

[0019] Those skilled in the art of the present embodiments will understand that the term "position" described below may be used in place of other terms having the same meaning, such as location, displacement, movement, angle, etc.

[0020] Fig. 1 is a schematic block diagram for explaining a steering system according to the present embodiments.

[0021] As in Fig. 1, a steering system 1 according to the present exemplary embodiments may include at least one of the steering device 100 and the steering assist device 200.

[0022] The steering device 100 can change the steering angle of a wheel 150 based on a steering force (or turning force, etc.) applied to a steering wheel 140. The steering device 100 can include at least one of an input-side mechanism 110, an output-side mechanism 120, and a disconnecting / connecting mechanism 130.

[0023] The input-side mechanism 110 may be one or more. The input-side mechanism 110 may be connected to the steering wheel 140. The input-side mechanism 110 may rotate in a direction of rotation of the steering wheel 140 or in a direction opposite to the direction of rotation of the steering wheel 140. The input-side mechanism 110 may include, but is not limited to, a steering shaft connected to the steering wheel 140 and may include any mechanism (or device) as long as it is capable of rotating (or moving) in the direction of rotation of the steering wheel or in a direction opposite to the direction of rotation of the steering wheel.

[0024] The output-side mechanism 120 may be one or more. The output-side mechanism 120 may be connected to the input-side mechanism 110 in at least one of an electrical and mechanical manner. The output-side mechanism 120 may be connected to the wheel 150 to change the steering angle (or movement, etc.) of the wheel 150. The output-side mechanism 120 may include at least one of a pinion gear, a rack gear, a tie rod arm, and a steering knuckle, but is not limited to these and may include any mechanism (or device) capable of changing the steering angle (or movement, etc.) of a wheel.

[0025] The disconnect / connect mechanism 130 may be one or more. The disconnect / connect mechanism 130 may be connected to the input-side mechanism 110 and the output-side mechanism 120. The disconnect / connect mechanism 130 may mechanically and / or electrically connect and / or disconnect the input-side mechanism 110 and the output-side mechanism 120. The disconnect / connect mechanism 130 may include, but is not limited to, a clutch and may include any mechanism (or device) that can mechanically or electrically connect and / or disconnect the input-side mechanism and the output-side mechanism.

[0026] The steering device 100 according to the present embodiments may include at least one of a steering device in which an input-side mechanism and an output-side mechanism are mechanically connected, a steering device (e.g., steer-by-wire, SbW) in which the input-side mechanism and the output-side mechanism are electrically connected; and a steering device (e.g., SbW including a clutch) in which the input-side mechanism and the output-side mechanism are connected to the disconnect / connect mechanism.

[0027] The steering wheel 140 and the wheel 150 may be one or more wheels. The steering wheel 140 and the wheel 150 may be provided separately, as shown in the drawings, but are not limited thereto, but may be included in the steering device 100.

[0028] The steering assist device 200 may be connected to the steering device 100. The steering assist device 200 may assist the steering device 100.

[0029] Fig. 2 is a diagram for explaining a steering device according to the present embodiments.

[0030] As in Fig. As shown in Figure 2, the steering device 100 according to the present embodiments may include an input-side mechanism 110 connected to a steering wheel 140 and an output-side mechanism 120 mechanically separated from the input-side mechanism 110 and connected to a wheel 150. That is, the steering device 100 according to the present embodiments may be a steer-by-wire (SbW) steering device.

[0031] The input-side mechanism 110 may rotate in the direction of rotation of the steering wheel 140 or in a direction opposite to the direction of rotation of the steering wheel 140, and may include a steering shaft connected to the steering wheel 140, etc. The output-side mechanism 120, which is mechanically separated from the input-side mechanism 110 and electronically connected, may be connected to the wheel 150 and change the steering angle (or movement, etc.) of the wheel, and may include at least one of a pinion, a rack, a tie rod arm, and a steering knuckle.

[0032] Fig. 3 is a diagram for explaining a steering assist device according to the present embodiments.

[0033] As in Fig. As shown in Figure 3, a steering assist device 200 according to the present exemplary embodiment may include at least one of an input-side steering assist device 200-1 and an output-side steering assist device 200-2. The input-side steering assist device 200-1 and the output-side steering assist device 200-2 may be connected to each other in at least one of an electrical, magnetic, and mechanical manner.

[0034] The input-side steering assist device 200-1 may be connected to the input-side mechanism in at least one of an electrical, magnetic, and mechanical manner. The input-side steering assist device 200-1 may assist an input-side mechanism.

[0035] The output-side steering assist device 200-2 may be connected to the output-side mechanism in at least one of an electrical, magnetic, and mechanical manner. The output-side steering assist device 200-2 may assist the input-side mechanism.

[0036] Fig. 4 is a diagram for explaining the input-side steering assist device according to the present embodiments.

[0037] As in Fig. 4, the input-side steering assist device 200-1 according to the present embodiments may include at least one of an input-side input power source 210-1, an input-side steering controller 220-1, an input-side steering actuator 230-1, and an input-side sensor module 240-1.

[0038] One or a plurality of input-side input power sources 210-1 may be present. The input-side input power source 210-1 may include at least one of a direct current source and an alternating current source. The direct current source may include, but is not limited to, a battery or the like, but may include any power source capable of supplying direct current.

[0039] The input-side sensor module 240-1 may include at least one sensor. In this case, the sensor may include at least one of an input-side steering torque sensor 241-1, an input-side steering angle sensor 242-1, and an input-side position sensor 243-1, but is not limited to these and may include any sensor as long as it is a sensor that can measure the state of a vehicle and the steering state of the vehicle.

[0040] There may be one or more input steering torque sensors 241-1. The input steering torque sensor 241-1 may detect steering torque of the steering wheel to obtain steering wheel torque information and may provide steering wheel torque information to the input steering controller 220-1. Furthermore, the input steering angle sensor 242-1 may be one or more. The input steering angle sensor 242-1 may measure the steering angle of the steering wheel to obtain steering angle information and may provide the steering angle information to the input steering controller 220-1. Furthermore, the input position sensor 243-1 may be one or more.The input-side position sensor 243-1 can measure at least one position between the position of the input-side mechanism and the position of the input-side steering motor to obtain position information from at least one of the position information of the input-side mechanism and the position information of the input-side steering motor, and can provide the input-side steering controller 220-1 with position information from at least one of the position information of the input-side mechanism and the position information of the input-side steering motor. Here, the input-side position sensor 243-1 can include a displacement sensor that can measure the position of the input-side mechanism and a motor position sensor that can measure the position of the input-side steering motor.

[0041] One or a plurality of input-side steering controllers 220-1 may be present. The input-side steering controller 220-1 may be connected to the input-side input power source 210-1. The input-side steering controller 220-1 may receive electrical power from the input-side input power source 210-1 and filter the electrical power noise.

[0042] The input steering controller 220-1 may generate a steering motor control signal based on information (e.g., at least one of steering torque information, steering angle information, position information, and vehicle speed information, etc.).

[0043] The input-side steering controller 220-1 may convert filtered electrical energy according to the control signal of the steering motor to generate a steering assist force, and control the input-side steering actuator 230-1 (or the input-side steering motor 231-1) based on the steering assist force.

[0044] One or a plurality of input-side steering actuators 230-1 may be provided. The input-side steering actuator 230-1 may be connected to the input-side steering controller 220-1. The input-side steering actuator 230-1 may provide an assist force (e.g., a reaction force, etc.) when steering the steering device 100 by operating based on the steering assist force provided by the input-side steering controller 220-1.

[0045] The input steering actuator 230-1 may include at least one of an input steering motor 231-1 and an input reduction gear 232-1. The input steering motor 231-1 and the input reduction gear 232-1 may be one or more. At least one of the input steering motor 231-1 and the input reduction gear 232-1 may be connected to the input steering controller 220-1.

[0046] When the input-side steering actuator 230-1 includes the input-side steering motor 231-1, the input-side steering motor 231-1 can assist the steering of the steering device 100 by operating based on the steering assist force provided by the input-side steering controller 220-1.

[0047] When the input-side steering actuator 230-1 includes the input-side steering motor 231-1 and the input-side reducer 232-1, the input-side steering motor 231-1 may operate based on the steering assist force provided by the input-side steering controller 220-1, and the input-side reducer 232-1 may operate according to the operation of the input-side steering motor 231-1 to assist the steering of the steering device 100.

[0048] Fig. 5 is a diagram for explaining an output-side steering assist device according to the present embodiments.

[0049] As in Fig. 5, an output-side steering assist device 200-2 according to the present embodiments may include at least one of an output-side input power source 210-2, an output-side steering controller 220-2, an output-side steering actuator 230-2, and an output-side sensor module 240-2.

[0050] The output-side input power source 210-2 may be one or more. The output-side input power source 210-2 may include at least one of a DC power source and an AC power source. The DC power source may include, but is not limited to, a battery or the like, but may include any power source capable of providing DC power.

[0051] The output sensor module 240-2 may include at least one sensor. The sensor may include, but is not limited to, an output position sensor 243-2, but may include any sensor capable of measuring the vehicle's state and steering state.

[0052] One or a plurality of output-side position sensors 243-2 may be provided. The output-side position sensor 243-2 may measure at least one position between a position of the output-side mechanism and a position of the output-side steering motor to obtain position information from at least one of the output-side mechanism position information and the output-side steering motor position information, and may provide the output-side steering controller 220-2 with position information from at least one of the output-side mechanism position information and the output-side steering motor position information. The output-side position sensor 243-2 may include a displacement sensor (e.g., a rack displacement sensor or a rack position sensor) that can measure the position of the output-side mechanism.

[0053] There may be one or a plurality of output-side steering controllers 220-2. The output-side steering controller 220-2 may be connected to the output-side input power source 210-2. The output-side steering controller 220-2 may receive electrical power from the output-side input power source 210-2 and filter the electrical power noise.

[0054] The output-side steering controller 220-2 may generate a steering motor control signal based on information (for example, at least one of steering torque information, steering angle information, position information, and vehicle speed information, etc.).

[0055] The output-side steering controller 220-2 may convert filtered electrical energy according to the steering motor control signal to generate a steering assist force, and control the output-side steering actuator 230-2 (or the output-side steering motor 231-2) based on the steering assist force.

[0056] One or a plurality of output steering actuators 230-2 may be provided. The output steering actuator 230-2 may be connected to the output steering controller 220-2. The output steering actuator 230-2 may assist the steering of the steering device 100 (e.g., provide a steering assist force, etc.) by operating based on the steering assist force provided by the output steering controller 220-2.

[0057] The output steering actuator 230-2 may include at least one of an output steering motor 231-2 and an output reduction gear 232-2. The output steering motor 231-2 and the output reduction gear 232-2 may each be one or more. At least one of the output steering motor 231-2 and the output reduction gear 232-2 may be connected to the output steering controller 220-2.

[0058] When the output-side steering actuator 230-2 includes the input-side steering motor 231-2, the input-side steering motor 231-2 can assist the steering of the steering device 100 by operating based on the steering assist force provided by the input-side steering controller 220-2.

[0059] When the output-side steering actuator 230-2 includes the output-side steering motor 231-2 and the output-side reducer 232-2, the output-side steering motor 231-2 may operate based on the steering assist force provided by the output-side steering controller 220-2, and the output-side reducer 232-2 may operate according to the operation of the output-side steering motor 231-2 to assist the steering of the steering device 100.

[0060] Related to Fig. 4 and Fig. 5, the input-side input current source 210-1 and the output-side input current source 210-2 may be different current sources as shown in the drawings, but the present invention is not limited thereto, and they may be the same current source.

[0061] In addition, the input-side steering motor 231-1 and / or the output-side steering motor 231-2 may include at least one of a single-winding type steering motor and a double-winding type steering motor, but are not limited thereto and may include any motor as long as it is capable of assisting the steering of the steering device.

[0062] The input-side steering motor 231-1 and / or the output-side steering motor 231-2 may include at least one of a three-phase motor and a five-phase motor, but are not limited thereto and may include any motor as long as it is capable of assisting the steering of the steering device.

[0063] Fig. 6 is a diagram for explaining an input-side steering control and an output-side steering control according to the present embodiments.

[0064] As in Fig. 6, each of the input-side steering controller 220-1 and the output-side steering controller 220-2 may include at least one of a filter unit 10, a steering motor power supply unit 20, a sensor unit 30, a communication unit 40, a control unit 50, and a control monitoring unit 60, the operating current conversion unit 70, and the current path control unit 80.

[0065] One or a plurality of filter units 10 may be provided. The filter unit 10 may be connected to an input power source. The filter unit 10 may filter the noise of the electrical power supplied by the input power source and supply the noise-filtered electrical power to the steering motor power supply unit 20 and the operating power conversion unit 70.

[0066] The steering motor power supply unit 20 may be one or more. The steering motor power supply unit 20 may be connected to the filter unit 10 and receive filtered electrical power. The steering motor power supply unit 20 may be connected to the control unit 50 to receive a steering motor control signal. The steering motor power supply unit 20 may convert the filtered electrical power based on the steering motor control signal to generate an auxiliary steering force and may control the steering motor based on the auxiliary steering force.

[0067] The steering motor power supply unit 20 may include at least one of a switching element driver 21 and an inverter 22. The switching element driver 21 and the inverter 22 may each be one or more.

[0068] The switching element driver 21 can receive a steering motor control signal from the control unit 50, generate a switching element control signal based thereon, and supply the switching element control signal to the inverter 22. The inverter 22 can generate a steering assist force by converting the filtered electrical energy of the filter unit according to the switching element control signal.

[0069] The inverter 22 may include a switch and / or a transistor, but is not limited thereto and may include any device as long as it is a device capable of generating an assist steering force by converting electrical energy according to a switching element control signal.

[0070] If the inverter 22 includes a field-effect transistor (FET), the switching element driver 21 may be a gate driver. Accordingly, the gate driver may receive the steering motor control signal from the control unit 50, generate a gate control signal based thereon, and supply the gate control signal to the inverter 22. The inverter 22 may generate the steering assist force by converting the filtered electrical energy from the filter unit according to the gate control signal.

[0071] One or a plurality of current path control units 80 may be provided. The current path control unit 80 may be arranged between the steering motor power supply unit 20 (or the inverter 22) and the steering actuator 230 (or the steering motor 231), and may supply or block the steering assist force provided by the steering motor power supply unit 20 (or the inverter 22) to the steering actuator 230 (or the steering motor 231).

[0072] The current path control unit 80 may include at least one phase separator (PCO). A phase separator is a device or circuit capable of disconnecting a phase and may include at least one of a switch, a circuit breaker, a disconnect switch, a switch, and a transistor, but is not limited to these and may include any element and / or circuit capable of disconnecting a phase.

[0073] The sensor unit 30 may include at least one of a temperature sensor 31, a current sensor 32, and a motor position sensor 33, but is not limited to these. It may include any sensor capable of measuring a state of the steering system (or steering controller). The temperature sensor 31, the current sensor 32, and the motor position sensor 33 may each be one or more.

[0074] The temperature sensor 31 can measure the temperature of the steering controller 220 to obtain temperature information and transmit the temperature information to the control unit 50. Furthermore, the current sensor 32 measures the assist current (or steering assist force) supplied from the steering motor power supply unit 20 to the steering actuator 230 (or the steering motor 231) to obtain assist current information and can transmit the assist current information to the control unit 50. Furthermore, the motor position sensor 33 can measure the position of the steering motor to obtain position information of the steering motor and transmit the position information of the steering motor to the control unit 50. As described above, the motor position sensor 33 can be included in the steering controller 220, but is not limited thereto and can also be provided separately.

[0075] The communication unit 40 may be one or more. The communication unit 40 may include at least one of an internal communication unit and an external communication unit. When a plurality of steering controllers are present, the internal communication unit may be connected to another steering controller to mutually receive or transmit information. The external communication unit may be connected to the vehicle to receive vehicle status information (e.g., vehicle speed information, etc.) from the vehicle or to provide the vehicle with information about a steering system.

[0076] There may be one or a plurality of control units 50. The control unit 50 may be connected to each component of the steering controller 220 to provide or receive information and may control the operation of each component of the steering controller 220 based on the information.

[0077] For example, the control unit 50 may generate a steering motor control signal based on at least one of steering wheel torque information, steering angle information, temperature information, assist current information, position information (position information of the input-side mechanism, position information of the output-side mechanism, position information of the steering motor, etc.), vehicle state information (e.g., vehicle speed information), input current state information, short-circuit (or overcurrent) state information, filter unit current detection information, and steering motor state information. The control unit 50 may forward the steering motor control signal to the steering motor power supply unit 20 (or the switching element driver 21) or generate a disconnect / connect control signal (e.g., a clutch control signal) to be forwarded to the disconnect / connect mechanism.

[0078] The control unit 50 may include, but is not limited to, a microcontroller, but may include any device (or computer) capable of processing (or executing and calculating) a program.

[0079] The control monitoring unit 60 may be connected to the control unit 50. The control monitoring unit 60 may monitor the operating state of the control unit 50. For example, the control unit 50 may send a watchdog signal to the control monitoring unit 60. Furthermore, based on the watchdog signal provided by the control unit 50, the control monitoring unit 60 may be cleared or generate a reset signal that is transmitted to the control unit 50.

[0080] The control monitoring unit 60 may include a watchdog, but is not limited to this; it may include any device as long as it can monitor the control unit. In particular, the watchdog may include a window watchdog with a time limit, ie, with a start and an end.

[0081] The operating power conversion unit 70 may be connected to the filter unit 10. The operating power conversion unit 70 may convert the filtered electrical energy of the filter unit 10 to generate operating voltages for each component of the steering controller 220. The operating power conversion unit 70 may include, but is not limited to, at least one of a DC-DC converter and a regulator, and may include any device capable of converting filtered electrical energy to generate an operating voltage for each component of the steering controller and / or the exterior of the steering controller.

[0082] At the same time, the steering controller 220 may include, but is not limited to, an electronic control unit (ECU) but may include any electronically controllable control device (or system).

[0083] Fig. 7 and Fig. 8 are diagrams for explaining a steering control according to the present embodiments.

[0084] As in Fig. As shown in Figure 7, the steering controller 220 according to the present embodiments may include at least one of an input-side steering controller 220-1 and an output-side steering controller 220-2. The input-side steering controller 220-1 and the output-side steering controller 220-2 may be connected to each other in at least one of an electrical, magnetic, and mechanical manner.

[0085] The input-side steering control 220-1 can contain an input-side control unit 50-1 and the output-side steering control 220-2 can contain an output-side control unit 50-2.

[0086] As in Fig. As shown in Figure 8, the input-side control unit 50-1 and the output-side control unit 50-2 according to the present embodiments may each include at least one of a determination device 51, a diagnostic controller 52, a data collection controller 53, a notification controller 54, and a steering motor controller 55. The determination device 51, the diagnostic controller 52, the data collection controller 53, the notification controller 54, and the steering motor controller 55 may be connected in at least one of an electrical, magnetic, and mechanical manner.

[0087] Related to Fig. 1 to 8, the steering control according to the present embodiments may be referred to as a steering control device.

[0088] Thus, a steering control device according to the present exemplary embodiments may include at least one of a determination device 51, a diagnostic controller 52, a data collection controller 53, a notification controller 54, and a steering motor controller 55. The determination device 51, the diagnostic controller 52, the data collection controller 53, the notification controller 54, and the steering motor controller 55 may be interconnected in at least one of an electrical, magnetic, and mechanical manner.

[0089] The steering control device according to the present embodiments may control an input-side steering motor included in an input-side steering actuator to assist an input-side mechanism connected to a steering wheel, and may control an output-side steering motor included in an output-side steering actuator to assist an output-side mechanism mechanically separated from the input-side mechanism and connected to a wheel.The steering control device may include the determination means 51 for determining whether to perform a ground test based on vehicle state information, and the diagnosis controller 52 for analyzing a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain and comparing an analysis result with preset normal data for diagnosing a steering system when the determination means determines to perform the ground test.

[0090] In some embodiments, the determining device 51 may determine whether a ground test should be performed based on vehicle condition information.

[0091] The vehicle condition information may include at least one of, but is not limited to, information about the operating condition of the vehicle, information about the condition of the vehicle interior, and information about the driving condition of the vehicle, and may include any information indicating the condition of the vehicle.

[0092] The information about the operating status of the vehicle may include, but is not limited to, vehicle ignition information, but may include any information indicating the operating status of the vehicle.

[0093] In addition, the vehicle interior condition information may include, but is not limited to, information about objects inside the vehicle, but may include any information indicating the condition of the vehicle interior.

[0094] In addition, the vehicle state information may include at least one of, but is not limited to, information about the driving time of the vehicle and information about the driving distance of the vehicle, and may include any information indicating the driving state of the vehicle.

[0095] For example, the determining means 51 may determine whether to perform the ground test by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a presence of a person in the vehicle based on the information about objects in the interior of the vehicle, determining a state in which a vehicle travel time exceeds a certain time based on information about the travel time of the vehicle, and determining a state in which a vehicle travel distance exceeds a certain distance based on the information about the travel distance of the vehicle.

[0096] In addition, the determination means 51 may, for example, determine to perform the ground check when the ignition of the vehicle is turned OFF and there is no person in the vehicle in at least one of the state where the travel time of the vehicle exceeds the specified time and the state where the travel distance of the vehicle exceeds the specified distance.

[0097] In addition, the determining means 51 may determine not to perform the ground test in at least one of the following states: when the ignition of the vehicle is ON, when a person is in the vehicle, when the travel time of the vehicle is less than or equal to the specified time, and when the travel distance of the vehicle is less than or equal to the specified distance.

[0098] When the determining means 51 determines to perform the ground test, the diagnosis controller 52 may analyze a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain, and may compare an analysis result with preset normal data to perform a diagnosis of a steering system.

[0099] In this case, the preset normal data is reference data for steering system diagnosis and can be collected and accumulated while the vehicle is driving or received and collected from the same vehicle via over-the-air (OTA).

[0100] For example, the diagnosis controller 52 may compare preset normal data with at least one of an amplitude margin and a phase margin analyzed by a transfer function based on an output value of the output-side steering motor according to a sine input value of the output-side steering motor, and may diagnose the steering system according to a comparison result.

[0101] That is, the diagnostic controller 52 may compare the amplitude margin with a normal amplitude margin of the preset normal data and compare the phase margin with a normal phase margin of the preset normal data.

[0102] Furthermore, the diagnosis controller 52 may diagnose that the steering system is in an abnormal state in the case of at least one of a case where the amplitude margin exceeds the normal amplitude margin of the preset normal data and a case where the phase margin exceeds the normal phase margin of the preset normal data.

[0103] Furthermore, the diagnostic controller 52 may determine that the steering system is in a normal state when the amplitude margin is less than or equal to the normal amplitude margin of the preset normal data and the phase margin is less than or equal to the normal phase margin of the preset normal data.

[0104] As another example, the diagnostic controller 52 may compare at least one of an amplitude and a frequency of a signal measured by an accelerometer or a vibration sensor with preset normal data when the output-side steering actuator is driven based on a sine input value of the output-side steering motor, and may diagnose the steering system according to a comparison result.

[0105] That is, the diagnostic controller 52 may compare the amplitude with a normal amplitude of the preset normal data and compare the frequency with a normal frequency of the preset normal data.

[0106] In addition, the diagnosis controller 52 may diagnose that the steering system is in an abnormal state in the case of at least one of a case where the amplitude exceeds the normal amplitude of the preset normal data and a case where the frequency exceeds the normal frequency of the preset normal data.

[0107] At the same time, the diagnostic controller 52 can determine that the steering system is in a normal state when the amplitude is less than or equal to the normal amplitude of the preset normal data and the frequency is less than or equal to the normal frequency of the preset normal data.

[0108] According to another embodiment, the determining device 51 may determine a system initiation based on vehicle state information.

[0109] The vehicle status information may include, but is not limited to, information about the operating status of the vehicle, but may include any information indicating the status of the vehicle.

[0110] In particular, the vehicle operating status information may include, but is not limited to, vehicle ignition information, vehicle speed information, and ground check information, and may include any information indicative of the vehicle operating status.

[0111] For example, the determining device 51 may determine whether the system is initiated by determining an ON or OFF state of a vehicle ignition based on the vehicle ignition information, determining a vehicle stop state based on the vehicle speed information, and determining a ground check state based on the ground check information.

[0112] Furthermore, the determining device 51 may determine to initiate the system when the vehicle ignition is in the ON state, a vehicle is in the vehicle stop state, and the ground test is completed.

[0113] Furthermore, the determining means 51 may determine not to initiate the system in the case of at least one of a state in which the ignition of the vehicle is in the ON state, a state in which the vehicle is not in the stop state, and a state in which the ground check is not completed.

[0114] According to a further embodiment, the determining device 51 may determine whether a ground test should be performed based on vehicle condition information.

[0115] The vehicle status information may include, but is not limited to, information about the operating status of the vehicle, but may include any information indicating the status of the vehicle.

[0116] In particular, the vehicle operating status information may include, but is not limited to, driver door information and system initiation information and may include any information indicating the vehicle operating status.

[0117] For example, the determining device 51 may determine whether to perform a synchronization check by determining the state of signal generation for the opened driver's door of a vehicle based on the information about the driver's door of the vehicle and determining a system initiation state based on the information about the system initiation.

[0118] Furthermore, the determining device 51 may determine that the synchronization check is performed when the driver door open signal is generated and the system is in the system initiation state.

[0119] In addition, the determining means 51 may determine not to perform the synchronization check in the case of at least one of a state in which the driver door open signal is not generated and a state in which the system is not initiated.

[0120] When the determination means 51 determines to perform the synchronization check, the diagnosis controller 52 may diagnose an alignment state of the steering wheel and the output-side mechanism based on steering angle information of the steering wheel and deflection information of the output-side mechanism in a state where the steering wheel is assisted not to move.

[0121] For example, the diagnostic controller 52 may diagnose an alignment state of the steering wheel and the output-side mechanism by determining the position of the steering wheel based on the steering angle information of the steering wheel and determining the position of the output-side mechanism based on the deflection information of the output-side mechanism.

[0122] For example, the diagnostic controller 52 may determine that the alignment state of the steering wheel and the output-side mechanism is in a normal state when a position of the steering wheel and a position of the output-side mechanism are in the same position.

[0123] At the same time, the diagnosis controller 52 can diagnose that the alignment state of the steering wheel and the output-side mechanism is abnormal when a position of the steering wheel and a position of the output-side mechanism are not in the same position.

[0124] According to a further embodiment, the determining device 51 can determine whether steering assistance should be initiated based on vehicle state information.

[0125] The vehicle status information may include, but is not limited to, information about the operating status of the vehicle, but may include any information indicating the status of the vehicle.

[0126] In particular, the vehicle operating status information may include, but is not limited to, vehicle ignition information, synchronization check information, and fault information, and may include any information indicating the vehicle operating status.

[0127] For example, the determining device 51 may determine whether steering assistance is initiated by determining an ON or OFF state of a vehicle ignition based on the vehicle ignition information, determining a synchronization check state based on the synchronization check information, and determining a fault state of the steering system based on the fault information.

[0128] The determining device 51 may determine to initiate the steering assistance when the vehicle's ignition is in the ON state, synchronization is completed, and the steering system is not in the fault state.

[0129] At the same time, the determining means 51 may determine not to initiate the steering assistance in the case of at least one of a state in which the ignition of the vehicle is in the OFF state, a state in which synchronization is not completed, and a state in which the steering system is in the fault state.

[0130] The data collection controller 53 can collect and accumulate normal data, i.e., reference data for diagnosing the steering system, while driving. Alternatively, the data collection controller can receive, collect, and accumulate the normal data from the same vehicle using over-the-air (OTA).

[0131] In one or more cases where the diagnostic controller 52 diagnoses that the steering system is in an abnormal state, in a case where the determining device 51 determines not to initiate the system, in a case where the diagnostic controller 52 diagnoses that the alignment of the steering wheel and the output-side mechanism is in an abnormal state, and in a case where the determining device 51 determines not to initiate the steering assist, the notification controller 54 may be controlled to generate a notification.

[0132] The steering motor controller 55 can control at least one of an input-side steering motor and an output-side steering motor. Specifically, the steering motor controller 55 can generate a steering motor control signal and control the steering motor power supply unit based on the steering motor control signal to control at least one of the input-side steering motor and the output-side steering motor.

[0133] In one example, the steering motor controller 55 may control the operation of the output steering motor based on an input value of the output steering motor when the determining device 51 determines to perform a ground test.

[0134] In another example, the steering motor controller 55 may control the operation of the input steering motor so that the steering wheel does not move when the determining device 51 determines that the synchronization check should be performed.

[0135] In another example, the steering motor controller 55 may control the operation of the output steering motor so that the position of the output mechanism matches the position of the steering wheel when the diagnostic controller 52 diagnoses that the alignment of the steering wheel and the output mechanism is in an abnormal state.

[0136] In another example, the steering motor controller 55 may control the operation of at least one of the input-side steering motor and the output-side steering motor so that at least one of the input-side mechanism and the output-side mechanism is assisted when the determining device 51 determines to initiate the steering assist.

[0137] At the same time, the input-side control unit 50-1 and the output-side control unit 50-2 according to the present embodiments can each perform all the functions of the determination device 51, the diagnosis controller 52, the data collection controller 53, the notification controller 54, and the steering motor controller 55 of the steering control device, but are limited to this, can divide and perform such functions.

[0138] For example, the steering control device according to the present embodiments may include an input-side steering controller 220-1 for controlling an input-side steering motor included in an input-side steering actuator to assist an input-side mechanism connected to a steering wheel, and an output-side steering controller 220-2 for controlling an output-side steering motor included in an output-side steering actuator to assist an output-side mechanism that is mechanically separated from the input-side mechanism and connected to a wheel. The input-side steering controller 220-1 may determine whether to perform a ground check based on vehicle state information and determine an input value of the output-side steering motor based on this determination.When the input-side steering controller determines to perform the ground test, the output-side steering controller 220-2 may analyze a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain, and compare an analysis result with preset normal data to perform a diagnosis of a steering system.

[0139] Furthermore, the steering assist device 200 according to the present embodiments may include an input-side steering actuator 230-1 for assisting an input-side mechanism connected to a steering wheel, an output-side steering actuator 230-2 that is mechanically separated from the input-side mechanism and assists an output-side mechanism connected to a wheel, an input-side steering controller 220-1 for controlling an input-side steering motor included in the input-side steering actuator, and an output-side steering controller 220-2 for controlling an output-side steering motor included in the output-side steering actuator. The input-side steering controller 220-1 may determine whether to perform a ground check based on vehicle state information and determine an input value of the output-side steering motor based on this determination.Moreover, when the input-side steering controller determines to perform the ground test, the output-side steering controller 220-2 may analyze a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain, and compare an analysis result with preset normal data to perform a diagnosis of a steering system.

[0140] Furthermore, the steering system according to the present embodiments may include a steering device 100 including an input-side mechanism connected to a steering wheel and an output-side mechanism mechanically separated from the input-side mechanism and connected to the wheel, and a steering assist device 200 including an input-side steering actuator 230-1 for assisting the input-side mechanism connected to a steering wheel, an output-side steering actuator 230-2 mechanically separated from the input-side mechanism and assisting the output-side mechanism connected to a wheel, an input-side steering controller 220-1 for controlling an input-side steering motor included in the input-side steering actuator, and an output-side steering controller 220-2 for controlling an output-side steering motor.which is included in the output-side steering actuator. The input-side steering controller 220-1 can determine whether to perform a ground test based on vehicle condition information and determine an input value of the output-side steering motor based on this determination. If the input-side steering controller determines to perform the ground test, the output-side steering controller 220-2 can further analyze a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain and compare an analysis result with preset normal data to perform a steering system diagnosis.

[0141] The input steering controller 220-1 may perform at least one of the following functions: determining ground check, determining system initiation, determining synchronization check, determining steering assist initiation, controlling data collection, controlling notification, and controlling the input steering motor.

[0142] The output steering controller 220-2 can perform at least one of the following functions: diagnosing the steering system during ground testing, diagnosing the alignment state of a steering wheel and an output mechanism during synchronization testing, and controlling an output steering motor.

[0143] Since the functions described above have already been described above, they are omitted below to simplify the description.

[0144] Fig. Figures 9 to 10 are diagrams explaining a diagnostic procedure for a steer-by-wire (SbW) system.

[0145] As in Fig. 9, first, when the ignition of the vehicle is turned OFF and there is no person in the vehicle, in the case of a state where the travel time of the vehicle exceeds the specified time or a state where the travel distance of the vehicle exceeds the specified distance (S10), a ground check mode (S20) may enter.

[0146] In the ground test mode, if the vehicle's driving time exceeds a certain time or the vehicle's driving distance exceeds a certain distance, the condition of the steering system can be checked.

[0147] Subsequently, when the vehicle's ignition is turned ON, ie, the wake-up signal is turned ON, and the vehicle is stationary, ie, the vehicle speed is 0 km / h, and the ground check is completed (S30), a system ON mode may enter, which is determined to initiate the system (S40).

[0148] In the system ON mode, after the steering system status check is completed, the ECU can be turned on to test the initialization status of the steering system.

[0149] Thereafter, when the driver door open signal is generated, ie, the driver door open signal is in the ON state, and the system is initiated, ie, the ECU is in the ON state (S50), it may enter a synchronization check mode to determine whether to check the synchronization (S60).

[0150] In the synchronization test mode, it is possible to align the position of the steering wheel and the position of the rack of the output mechanism.

[0151] Subsequently, when the vehicle ignition is turned ON, that is, the wake-up signal is turned ON, the synchronization is completed, that is, the position of the steering wheel and the position of the rack of the output-side mechanism match, and the steering system is not in a fault state, that is, the signals of the steering system are normal (S70), it is possible to enter a normal mode by determining whether to initiate the steering assistance (S80).

[0152] In normal mode, the diagnosis and initialization of the steering system are completed so that the steering can be assisted normally.

[0153] As in Fig. As shown in Figure 10, an input-side steering assist device may be referred to as a steering feedback actuator (SFA) and an output-side steering assist device may be referred to as a road wheel actuator (RWA).

[0154] In the synchronization check mode (S60) it is possible to diagnose SFA and RWA.

[0155] First, the SFA ECU and the RWA ECU can perform a built-in self-test (BIST) (S61, S62). The SFA ECU can perform a center test, and the RWA ECU can perform a vibration test.

[0156] After that, the ECU of the SFA and the ECU of the RWA can exchange information indicating that the BIST has been completed (S63, S64).

[0157] The SFA ECU can then perform an entry / exit mode (S65). This means that the SFA ECU can measure the signal for the driver's door being opened and provide assistance so that the steering wheel does not move. The SFA ECU can then provide a variety of information to the RWA ECU. In this case, the variety of information can include information about the steering wheel angle.

[0158] Subsequently, the RWA ECU can perform a start-up mixing process based on the plurality of information (S66). That is, the RWA ECU diagnoses the alignment state of the steering wheel and the output-side mechanism based on the steering angle information of the steering wheel and the deflection information of the output-side mechanism, and can perform synchronization based on this to align the position of the steering wheel and the position of the output-side mechanism to the same position.

[0159] After that, the ECU of the SFA and the ECU of the RWA can exchange information indicating that the initialization, ie the synchronization, is completed (S67, S68).

[0160] As described above, the steering control device, the steering assist device, and the steering system according to the present embodiments can determine whether they are entering the ground check mode, the system ON mode, the synchronization check mode, and the steering assist start mode (i.e., the normal mode), respectively, and assist the steering by diagnosing and synchronizing the steering system on this basis. This not only improves the usability of operating the steering system, but also enables systematic and accurate diagnosis and quantifies the vehicle condition (vibrations, noise) felt by the driver, even when the vehicle's warning light and warning sound are not activated.In addition, it is possible to minimize the cost and time required for diagnosing the steering system during vehicle maintenance and to measure the vibrations and noise caused by mechanical abnormalities of the vehicle when the ignition is on, reduce maintenance costs and quantify the vibrations and noise.

[0161] A steering assist method according to the present embodiments will be described below with reference to the accompanying drawings. The steering assist method according to the present embodiments can be performed by a steering device, a steering assist device, and a steering system. Accordingly, descriptions related to the descriptions of the steering device, the steering assist device, and the steering system according to the present embodiments described above with reference to Fig. 1 to 10 have occurred, are omitted below to simplify the description.

[0162] Fig. 11 to 13 are flowcharts for explaining a steering assist method according to the present embodiments.

[0163] As in Fig. 11, the steering assist method according to the present embodiments may include at least one of the following steps: a ground check mode S100, a system initiation mode S200, a synchronization check mode S300, and a steering assist initiation mode S400.

[0164] First, the ground test mode can be carried out (S100).

[0165] That is, the steering assist method according to the present embodiments may control an input-side steering motor included in an input-side steering actuator to assist an input-side mechanism connected to the steering wheel, and may control an output-side steering motor included in an output-side steering actuator to assist the output-side mechanism that is mechanically separated from the input-side mechanism and connected to the wheel.The steering assist method may include determining whether to perform a ground test based on vehicle condition information, and, in the case of determining to perform the ground test, diagnosing a steering system by analyzing a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain and comparing an analysis result with preset normal data.

[0166] As in Fig. As shown in Figure 12, it can first be determined whether or not a ground test should be performed based on vehicle condition information (S110).

[0167] For example, it can be determined whether to perform the ground test by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a presence of a person in the vehicle based on information about objects in the interior of the vehicle, determining a state in which a vehicle travel time exceeds a certain time based on information about the travel time of the vehicle, and determining a state in which a vehicle travel distance exceeds a certain distance based on information about the travel distance of the vehicle.

[0168] That is, it may be determined to perform the ground test when the ignition of the vehicle is turned OFF and there is no person in the vehicle in at least one of the state where the traveling time of the vehicle exceeds the specified time and the state where the traveling distance of the vehicle exceeds the specified distance (S110-Y).

[0169] In addition, it may be determined not to perform the ground test in at least one of the following conditions: when the vehicle's ignition is turned ON, when there is a person in the vehicle, when the vehicle's travel time is less than or equal to the specified time, and when the vehicle's travel distance is less than or equal to the specified distance (S110-N).

[0170] Then, in step S120, in the case of determining to perform the ground test, an input value of the output-side steering motor may be determined (S121), a response of the output-side steering actuator may be analyzed according to an input value of the output-side steering motor in a frequency domain (S122), and the steering system may be diagnosed by comparing an analysis result with preset normal data (S123).

[0171] In one example, preset normal data may be compared with at least one of an amplitude margin and a phase margin analyzed by a transfer function based on an output value of the output-side steering motor according to a sine input value of the output-side steering motor, and the steering system may be diagnosed according to a comparison result.

[0172] That is, the amplitude margin can be compared with a normal amplitude margin of the preset normal data and the phase margin can be compared with a normal phase margin of the preset normal data.

[0173] In addition, it can be diagnosed that the steering system is in an abnormal state if at least one of the amplitude margin exceeds the normal amplitude margin of the preset normal data and the phase margin exceeds the normal phase margin of the preset normal data occurs (S214). Then, a notification can be issued that the steering system is in an abnormal state (S125).

[0174] Furthermore, the diagnosis that the steering system is in a normal state can be made when the amplitude reserve is less than or equal to the normal amplitude reserve of the preset normal data and the phase reserve is less than or equal to the normal phase reserve of the preset normal data (S126).

[0175] In another example, at least one of an amplitude and a frequency of a signal measured by an accelerometer or a vibration sensor may be compared with preset normal data when the output-side steering actuator is driven based on a sine input value of the output-side steering motor, and the steering system may be diagnosed according to a comparison result.

[0176] That is, the amplitude can be compared with a normal amplitude of the preset normal data and the frequency can be compared with a normal frequency of the preset normal data.

[0177] In addition, the steering system can be diagnosed as being in an abnormal state in the case of at least one of a case where the amplitude exceeds the normal amplitude of the preset normal data and a case where the frequency exceeds the normal frequency of the preset normal data.

[0178] Furthermore, it can be diagnosed that the steering system is in a normal state when the amplitude is less than or equal to the normal amplitude of the preset normal data and the frequency is less than or equal to the normal frequency of the preset normal data.

[0179] As in Fig. 11, the system initiation mode (S200) can then be carried out.

[0180] This means that it can be determined whether a system should be initiated (system initiation) based on the vehicle state information.

[0181] For example, whether the system is initiated may be determined by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a vehicle stop state based on vehicle speed information, and determining a ground check state based on ground check information.

[0182] That is, it can be determined to initiate the system when the vehicle ignition is in the ON state, a vehicle is in the vehicle stop state, and the ground test is completed.

[0183] In addition, it may be determined not to initiate the system in the case of at least one of a state in which the vehicle's ignition is in the ON state, a state in which the vehicle is not in the stop state, and a state in which the ground check is not completed.

[0184] The synchronization check mode (S300) can then be performed.

[0185] As in Fig. 13, it can first be determined whether a synchronization check should be performed based on vehicle state information (S310).

[0186] That is, when the driver door open signal is generated and the system is in the system initiation state, it can be determined to perform the synchronization check (S310-Y).

[0187] In addition, it may be determined not to perform the synchronization check in the case of at least one state in which the driver door open signal is not generated and one state in which the system is not initiated (S310-N).

[0188] Thereafter, in case of determining to perform the synchronization check, the steering wheel may be assisted not to move (S320), the steering angle information of the steering wheel (S330) may be acquired, the deflection information of the output side mechanism (S340) may be acquired, an alignment state of the steering wheel and the output side mechanism may be diagnosed based on the steering angle information of the steering wheel and the deflection information of the output side mechanism (S350).

[0189] For example, the alignment state of the steering wheel and the output-side mechanism can be diagnosed by determining the position of the steering wheel based on steering angle information of the steering wheel and determining the position of the output-side mechanism based on the deflection information of the output-side mechanism.

[0190] That is, it can be diagnosed that the alignment state of the steering wheel and the output-side mechanism is in a normal state (S360) when a position of the steering wheel and a position of the output-side mechanism are in the same position (S350-Y).

[0191] At the same time, it can be diagnosed that the alignment state of the steering wheel and the output-side mechanism is abnormal if the position of the steering wheel and the position of the output-side mechanism are not in the same position (S370). Then, the operation of the output-side steering motor can be controlled so that the position of the output-side mechanism matches the position of the steering wheel (S380).

[0192] As in Fig. 11, the steering assistance initiation mode (S400) can then be performed.

[0193] This means that it can be determined whether steering assistance should be initiated based on vehicle condition information.

[0194] For example, whether steering assistance is initiated may be determined by determining an ON state or an OFF state of a vehicle ignition based on the vehicle ignition information, determining a synchronization check state based on the synchronization check information, and determining a fault state of the steering system based on the fault information.

[0195] That is, it can be determined to initiate steering assistance when the vehicle's ignition is in the ON state, synchronization is completed, and the steering system is not in a fault state.

[0196] In addition, it may be determined not to initiate the steering assistance in the case of at least one of a state in which the vehicle's ignition is in the OFF state, a state in which synchronization is not completed, and a state in which the steering system is in the fault state.

[0197] Fig. 14 is a block diagram of a computer system for the steering control device, the steering assist device, and the steering system according to the present embodiments.

[0198] As in Fig. 14, the above-described embodiments may be implemented in a computer system, for example, as a computer-readable recording medium. As shown in Fig.14, a computer system 1000, such as a steering control device, a steering assist device, and a steering system, may include at least one of one or more processors 1010, a memory 1020, a storage unit 1030, a user interface input unit 1040, and a user interface output unit 1050. These elements may communicate with each other via bus 1060. In addition, computer system 1000 may also include a network interface 1070 for connecting to a network. Processor 1010 may be a CPU or a semiconductor device for executing processing instructions stored in memory 1020 and / or storage unit 1030. Memory 1020 and storage unit 1030 may include various types of volatile / non-volatile storage media. For example, memory may include ROM 1024 and RAM 1025.

[0199] Accordingly, the present embodiments may be implemented as a computer-implemented method or as a non-transitory computer recording medium having computer-executable instructions stored therein. The instructions, when executed by a processor, may perform the method according to at least one embodiment of the present embodiments. In particular, if there are a plurality of cores, at least one of the plurality of cores may include a lockstep core.

[0200] The above description has been presented to enable any person skilled in the art to realize and utilize the technical idea of ​​the present disclosure, and has been provided in the context of a specific application and its requirements. Various modifications, additions, and substitutions of the described embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. The above description and the accompanying drawings represent an example of the technical idea of ​​the present disclosure and are for illustrative purposes only. That is, the described embodiments are intended to illustrate the scope of the technical idea of ​​the present disclosure.Therefore, the scope of the present disclosure is not limited to the embodiments shown, but is to be given the broadest scope consistent with the claims. The scope of the present disclosure is to be interpreted based on the following claims, and all technical ideas within the scope of their equivalents are to be construed as included within the scope of the present disclosure.

Claims

[1] A steering control device that controls an input-side steering motor included in an input-side steering actuator to assist an input-side mechanism (110) connected to a steering wheel (140), and an output-side steering motor included in an output-side steering actuator to assist an output-side mechanism (120) that is mechanically separated from the input-side mechanism (110) and connected to a wheel (150), comprising: a determining device (51) configured to determine whether a ground test should be performed based on vehicle condition information; and a diagnosis controller configured, when the determining means (51) determines to perform the ground test, to analyze a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain, and to compare an analysis result with preset normal data to perform a diagnosis of a steering system; characterized by that the determining device (51) determines: whether the steering system is initiated by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a vehicle stop state based on vehicle speed information, and determining a ground check state based on ground check information, wherein the input-side steering controller determines to initiate the steering system when the vehicle ignition is in the ON state, a vehicle is in the vehicle stop state, and the ground check is completed; and / or whether a synchronization check should be performed by determining a state of signal generation for the opened driver's door of a vehicle on the basis of information about the driver's door of the vehicle and determining a system initiation state on the basis of information about the system initiation, wherein the determining means (51) determines to perform the synchronization check when the signal for the opened driver's door is generated and the steering system is in the system initiation state; and / or whether steering assistance is initiated by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a synchronization check state based on synchronization check information, and determining a fault state of the steering system based on fault information, wherein the input-side steering controller determines to initiate steering assistance when the vehicle ignition is in the ON state, synchronization is completed, and the steering system is not in the fault state. [2] Steering control device according to claim 1, characterized bythat the determining device (51) determines whether the ground test should be performed by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a presence of a person in the vehicle based on information about objects in the interior of the vehicle, determining a state in which a vehicle travel time exceeds a certain time based on information about the travel time of the vehicle, and determining a state in which a vehicle travel distance exceeds a certain distance based on information about the travel distance of the vehicle. [3] Steering control device according to claim 2, characterized bythat the determining means (51) determines to perform the ground test when the ignition of the vehicle is turned OFF and there is no person in the vehicle, in at least one of a state in which the travel time of the vehicle exceeds the specified time and a state in which the travel distance of the vehicle exceeds the specified distance. [4] Steering control device according to one of claims 1 to 3, characterized by that the diagnosis controller (52) compares preset normal data with at least one of an amplitude margin and a phase margin analyzed by a transfer function based on an output value of the output-side steering motor according to a sine input value of the output-side steering motor, and diagnoses the steering system according to a comparison result. [5] Steering control device according to claim 4, characterized byin that the diagnostic controller (52) compares the amplitude reserve with a normal amplitude reserve of preset normal data and compares the phase reserve with a normal phase reserve of preset normal data, wherein the diagnostic controller (52) diagnoses that the steering system is in an abnormal state in the case of at least one of a case in which the amplitude reserve exceeds the normal amplitude reserve of the preset normal data and a case in which the phase reserve exceeds the normal phase reserve of the preset normal data, and diagnoses that the steering system is in a normal state when the amplitude reserve is less than or equal to the normal amplitude reserve of the preset normal data and the phase reserve is less than or equal to the phase reserve of the preset normal data. [6] Steering control device according to one of claims 1 to 5, characterized bythat the diagnosis controller (52) compares at least one of an amplitude and a frequency of a signal measured by an accelerometer or a vibration sensor with preset normal data when the output-side steering actuator is driven based on a sine input value of the output-side steering motor, and diagnoses the steering system according to a comparison result. [7] Steering control device according to claim 6, characterized bythat the diagnosis controller (52) compares the amplitude with a normal amplitude of preset normal data and compares the frequency with a normal frequency of preset normal data, wherein the diagnosis controller (52) diagnoses that the steering system is in an abnormal state in the case of at least one of a case where the amplitude exceeds the normal amplitude of the preset normal data and a case where the frequency exceeds the normal frequency of the preset normal data, and diagnoses that the steering system is in a normal state when the amplitude is less than or equal to the normal amplitude of the preset normal data and the frequency is less than or equal to the frequency of the preset normal data. [8] Steering control device according to one of claims 1 to 7, characterized bythat, when the determining means (51) determines whether the synchronization check should be performed and further determines to perform the synchronization check, the diagnosis controller (52) diagnoses an alignment state of the steering wheel (140) and the output-side mechanism (120) based on steering angle information of the steering wheel (140) and deflection information of the output-side mechanism (120) in a state in which the steering wheel (140) is assisted not to move. [9] Steering control device according to claim 8, characterized by that the diagnostic controller (52) diagnoses that the alignment state of the steering wheel (140) and the output-side mechanism (120) is abnormal when a position of the steering wheel (140) and a position of the output-side mechanism (120) are not in the same position. [10] Steering assistance device (200) comprising: an input steering actuator for assisting an input mechanism (110) connected to a steering wheel (140); an output steering actuator mechanically separated from the input mechanism (110) and supporting an output mechanism (120) connected to a wheel (150); an input-side steering controller for controlling an input-side steering motor included in the input-side steering actuator; and an output-side steering controller for controlling an output-side steering motor included in the output-side steering actuator, wherein the input-side steering controller is configured to determine whether a ground test should be performed based on vehicle condition information and to determine an input value of the output-side steering motor based on this determination, wherein, when the input-side steering controller determines to perform the ground test, the output-side steering controller is configured to analyze a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain, and compare an analysis result with preset normal data to perform a diagnosis of a steering system; characterized by that the input steering control determines whether: whether the steering system is initiated by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a vehicle stop state based on vehicle speed information, and determining a ground check state based on ground check information, wherein the input-side steering controller determines to initiate the steering system when the vehicle ignition is in the ON state, a vehicle is in the vehicle stop state, and the ground check is completed; and / or whether a synchronization check should be performed by determining a state of signal generation for the open driver's door of a vehicle based on information about the driver's door of the vehicle and determining a system initiation state based on information about the system initiation, wherein the input-side steering control determines to perform the synchronization check when the signal for the open driver's door is generated and the steering system is in the system initiation state; and / or whether to initiate steering assistance by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a synchronization check state based on synchronization check information, and determining a fault state of the steering system based on fault information, wherein the input-side steering controller determines to initiate steering assistance when the vehicle ignition is in the ON state, synchronization is completed, and the steering system is not in the fault state. [11] Steering assistance device (200) according to claim 10, characterized bythat the input-side steering controller determines whether to perform the ground test by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a presence of a person in the vehicle based on information about objects in the interior of the vehicle, determining a state in which a vehicle travel time exceeds a certain time based on information about the travel time of the vehicle, and determining a state in which a vehicle travel distance exceeds a certain distance based on information about the travel distance of the vehicle. [12] Steering assistance device (200) according to claim 10 or 11, characterized bythat the output-side steering controller compares preset normal data with at least one of an amplitude margin and a phase margin analyzed by a transfer function based on an output value of the output-side steering motor according to a sine input value of the output-side steering motor, and diagnoses the steering system according to a comparison result. [13] Steering assistance device (200) according to one of claims 10 to 12, characterized by that the output-side steering controller compares at least one of an amplitude and a frequency of a signal measured by an accelerometer or a vibration sensor with preset normal data when the output-side steering actuator is driven based on a sine input value of the output-side steering motor, and diagnoses the steering system according to a comparison result. [14] A steering assist method for controlling an input-side steering motor included in an input-side steering actuator to assist an input-side mechanism (110) connected to a steering wheel (140) and for controlling an output-side steering motor included in an output-side steering actuator to assist an output-side mechanism (120) mechanically separated from the input-side mechanism (110) and connected to a wheel (150), comprising: Determine, based on vehicle condition information, whether a ground test should be performed; and Diagnosing a steering system when determining performance of the ground test by analyzing a response of the output-side steering actuator according to an input value of the output-side steering motor in a frequency domain, and comparing an analysis result with preset normal data; characterized bythat the determining device (51) determines: whether the steering system is initiated by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a vehicle stop state based on vehicle speed information, and determining a ground check state based on ground check information, wherein the input-side steering controller determines to initiate the steering system when the vehicle ignition is in the ON state, a vehicle is in the vehicle stop state, and the ground check is completed; and / or whether a synchronization check should be performed by determining a state of signal generation for the opened driver's door of a vehicle on the basis of information about the driver's door of the vehicle and determining a system initiation state on the basis of information about the system initiation, wherein the determining means (51) determines to perform the synchronization check when the signal for the opened driver's door is generated and the steering system is in the system initiation state; and / or whether steering assistance is initiated by determining an ON state or an OFF state of a vehicle ignition based on vehicle ignition information, determining a synchronization check state based on synchronization check information, and determining a fault state of the steering system based on fault information, wherein the input-side steering controller determines to initiate steering assistance when the vehicle ignition is in the ON state, synchronization is completed, and the steering system is not in the fault state.

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