STEERING CONTROL DEVICE AND METHOD FOR A VEHICLE

Abstract

Steering control device (110) of a vehicle, comprising: a training mode determination unit (310) that determines to execute a training mode of a reaction force motor (240) based on training request information entered by a user when vehicle driving information about the vehicle and / or user information meets a preset condition; a load generating unit (320) that generates a load through the reaction force motor (240) by controlling upper switching elements or lower switching elements for each phase of an inverter (230) to perform a switching operation simultaneously, depending on whether the exercise mode is executed; and a state output unit (330) that calculates and outputs exercise state information from a start time of the execution of the exercise mode, wherein the practice mode determination unit (310) determines that the condition is satisfied when it is determined that the user's state, obtained from the user information, is a drowsy driving state or a long-term driving state, wherein the load generating unit (320) only actuates the reaction force motor of a steering feedback actuator, while the operation of the road wheel actuator including a steering motor and a rack is stopped.

Description

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

[0002] A vehicle steering system refers to a system in which the driver of a vehicle can change the steering angle of the vehicle's wheels based on the steering force (or rotational force) applied to the steering wheel. Electric power steering (EPS) has been used in vehicles to reduce the steering effort required and ensure stability of the steering. Research in the field of steer-by-wire-based vehicle steering systems remains very intensive.

[0003] Furthermore, modern life, with its busy lifestyle, leaves little time for exercise, leading to a lack of movement and associated health risks. People who spend more time in their vehicles often fall into poor physical condition due to lack of exercise and frequently become tired and drowsy behind the wheel, which can lead to accidents.

[0004] Therefore, there is a need for technologies that allow people to perform exercises in their vehicles to avoid drowsy driving and potential accidents.

[0005] DE 10 2013 203 115 A1 discloses a method for strength training for a driver of a motor vehicle during traffic-related waiting phases, which utilizes the vehicle's electronic power steering system. DE 10 2010 030 308 A1 discloses a method and a device for gymnastic exercises in a motor vehicle, wherein the seat adjustment of the occupant's seat is used to stimulate the occupant's body. DE 10 2009 025 150 A1 also discloses a training device for training a vehicle occupant by adjusting various interior vehicle components that are in contact with the occupant.

[0006] Against this background, the present embodiments can provide a steering control device for vehicles and a method for conducting exercises in a vehicle using a vehicle steering device. This problem is solved by the device with the features of claim 1, and by a method with the features of claim 8. Advantageous further developments are described in the dependent claims.

[0007] In one aspect, the present embodiments may provide a steering control device of a vehicle comprising: a training mode determination unit that determines whether to execute a training mode of a reaction force motor based on training request information entered by a user when at least one of the vehicle driving information about the vehicle or user information meets a preset condition; a load generation unit that generates a load through the reaction force motor by controlling upper switching elements or lower switching elements for each phase of an inverter to simultaneously perform a switching operation depending on whether the training mode is executed; and a state output unit that calculates and outputs training state information from a start time of the execution of the training mode.

[0008] In another aspect, the present embodiments may include a steering control method of a vehicle that includes a step for determining the training mode, which determines that a training mode of a reaction force motor is executed based on training request information entered by a user when at least one of the vehicle driving information about the vehicle or user information satisfies a preset condition; a load generation step, which generates a load through the reaction force motor by controlling upper switching elements or lower switching elements for each phase of an inverter to simultaneously perform a switching operation depending on whether the training mode is executed; and a state output step, which calculates and outputs training state information from a start time of the execution of the training mode.

[0009] The present embodiments can provide a steering control device for vehicles and a method for an exercise in a vehicle using a vehicle steering device.

[0010] The foregoing and further tasks, properties and advantages of the invention will become clearer from the following detailed description when it is taken into account together with the accompanying drawings, in which: Fig. 1 is a view showing an example of an overall configuration of a steer-by-wire based vehicle steering system according to an embodiment; Fig. 2 is a view showing a configuration of a vehicle steering system according to an exemplary embodiment; Fig. 3 is a view showing a configuration of a steering control device for a vehicle according to an exemplary embodiment; Fig. 4 is a flowchart illustrating the operation of a steering control device for a vehicle according to an exemplary embodiment; Fig. 5 is a view showing a switching operation of a load generating unit according to an exemplary embodiment; Fig. 6 is a view showing an example of the generation of a load by a load-generating unit according to an embodiment; and Fig. 7 is a flowchart illustrating a steering control procedure for a vehicle according to an exemplary embodiment.

[0011] The invention relates to a steering control device and a steering control method for vehicles.

[0012] In the following description of examples or embodiments of the invention, 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 they are shown in different accompanying drawings. Furthermore, detailed descriptions of known functions and components included herein are omitted in the following description of examples or embodiments of the invention if it is determined that such a description might make the subject matter rather unclear in some embodiments of the invention.The expressions used herein, such as "contain," "exhibit," "include," "consist of," and "formed of," are generally intended to permit the addition of other components, unless the expressions are used with the phrase "only." As used herein, singular forms are intended to include plural forms unless the context clearly indicates otherwise.

[0013] Terms such as "first", "second", "A", "B", "(A)" or "(B)" may be used herein to describe elements of the invention. None of these terms are used to define any importance, order, sequence or number of elements, etc., but are used merely to distinguish the respective element from other elements.

[0014] When it is mentioned that a first element is "connected or coupled" to a second element, or that it "touches or overlaps," this should be interpreted to mean that the first element can be "directly connected or coupled" to the second element, or that it can "directly touch or overlap," but also that a third element can be "arranged" "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, or that they can "touch or overlap," etc. Here, the second element can be at least one of two or more elements that are "connected or coupled" to each other, "contact or overlap," etc.

[0015] When time-related terms such as "after", "coming after", "next", "before" and the like are used to describe processes or actions of elements or configurations or sequences or steps of actuation, processing, manufacturing procedures, these terms may be used to describe processes or actions that are not consecutive or follow one another, as long as the term "direct" or "immediately" is not used in conjunction with them.

[0016] When any dimensions, relative sizes, etc., are mentioned, it should also be borne in mind that numerical values ​​for an element or property, or corresponding information (e.g., degree, area, etc.), include a margin of error or tolerance that may be caused by various factors (e.g., process factors, internal or external influences, noise, etc.), even if a relevant description is not specified. Furthermore, the term "could" can encompass all meanings of the term "may."

[0017] Fig. Figure 1 is a view showing an example of an overall configuration of a steer-by-wire based vehicle steering system according to an exemplary embodiment.

[0018] Referring to Fig. 1 A steer-by-wire based vehicle steering system according to one embodiment may comprise a steering wheel 100, a steering column module (SCM) 120, a rack and pinion module (SRM) 130, a control module 110 and a wheel 140.

[0019] The steering wheel 100 can be operated by the user. For example, the steering wheel 100 can be rotated by the user, and based on this, the direction of the vehicle can be determined or changed.

[0020] The steering column module 120 can be connected to the steering wheel 100. The steering column module 120 can include a steering shaft, a reaction force motor, and any sensor. For example, the steering shaft can be connected to the steering wheel 100. When the steering wheel 100 rotates, the steering shaft can rotate in response to the rotating steering wheel 100. The reaction force motor can be connected to the steering shaft. The reaction force motor can rotate in a direction opposite to the direction of rotation of the steering wheel 100 to exert a steering reaction force on the steering wheel 100 so that the user has an appropriate steering feel. Each sensor can include at least a steering angle sensor, a torque sensor, or a steering angle velocity sensor. However, the type of sensor is not limited as long as it can measure the states of the various components of the steering column module 120.The steering angle sensor can, for example, measure the steering angle, i.e., the rotation angle of the steering wheel 100. The torque sensor can measure the torque generated at the steering shaft when the steering wheel 100 is rotated. The steering angle sensor can measure the steering angular velocity, which is the rotation angular velocity of the steering wheel 100. The steering column module 120 has the same function as a steering feedback actuator (SFA) and they can be used interchangeably here.

[0021] The steering rack module 130 can be mechanically separate from the steering column module 120. The rack module 130 can include a steering motor, a pinion, a rack, and any sensors. The steering motor can, for example, be driven by a drive current. The steering motor can generate a drive torque corresponding to the drive current and, based on this generated drive torque, exert a steering force on the steering wheel 100. The pinion can be connected to the steering motor. The pinion can rotate due to the drive torque generated by the steering motor. The rack can be connected to the pinion. The rack can perform a linear movement based on the rotation of the pinion. In other words, the pinion and rack can exert a steering force on the steering wheel 100, based on the drive torque of the steering motor, to change the direction of the steering wheel 100.Each sensor can include at least one rack position sensor, one rack motion sensor, one pinion angle sensor, or one pinion angle speed sensor. However, the type of sensor is not limited, as long as it can measure the states of the various components of the rack module 130. For example, the rack position sensor can measure the position of the rack, and the rack motion sensor can measure the displacement of the rack. The pinion angle sensor can measure the angle of the pinion, which is the angle of rotation of the pinion. The pinion angle sensor can measure the angular velocity of the pinion, which is the angular velocity of the pinion. The rack module 130 is equivalent to a road wheel actuator (RWA), and they can be used interchangeably here.

[0022] The control module 110 can control the operation of the steering column module 120 and the steering rack module 130. For example, the control module 110 can receive information from each of the components contained in the steering column module 120 and the rack module 130, generate a control signal using the received information, and control the operation of each component contained in the steering column module 120 and the rack module 130 based on the generated control signal. As another example, the control module 110 can control the operation of each sensor mounted on the vehicle. The control module 110 can control the operation of each sensor located on the vehicle, generate each control signal based on each piece of information from it, and control the operation of each component contained in the steering column module 120 and the rack module 130 using each generated control signal. The control module 110 can designate a steering control device.The control module 110 is referred to below with reference to the . Fig. 3, Fig. 4, Fig. 5, Fig. 6 to Fig. 7 described in detail.

[0023] Wheel 140 can be connected to rack module 130. For example, the steering motor can be connected to the rack to transmit the steering motor's torque to the rack and simultaneously convert the torque into an axial linear force. The linear force of the rack can be transmitted to wheel 140, which is connected via a tie rod and a steering knuckle.

[0024] Fig. Figure 2 is a view showing a configuration of a vehicle steering system according to an exemplary embodiment.

[0025] According to one embodiment of Fig. 2. A vehicle steering system can comprise an electronic control device 110 with a microcontroller (MCU) 220 and an inverter 230, a torque sensor 250, a current sensor 260, a reaction force motor 240, and a user interface 210. According to one embodiment, the vehicle's steering control device can be designed as an electronic control device, for example, as an electronic control unit (ECU). For example, when the user detects steering torque via the torque sensor 250 in normal mode, the MCU 220 of the steering control device can generate a pulse-width modulation (PWM) pulse and control the inverter 230, which drives the reaction force motor 240. In this case, the current flowing through the reaction force motor 240 can be fed back to the MCU 220 via the current sensor 260 and used to calculate the duty cycle of the PWM pulse.As another example, when executing a training mode, the MCU 220 of the steering control device can control the inverter 230 to throttle the reaction force motor 240 and adjust the magnitude of the throttling force using the duty cycle of the PWM pulse.

[0026] The user interface 210 can output information generated by the vehicle's steering control unit via an output module, such as a display, and receive the training mode from the user via a button and transmit the training mode to the vehicle's steering control unit. The user interface 210 can, for example, have a touchscreen display located in the vehicle that allows for input and output.

[0027] Furthermore, when performing the exercise mode, the steering control device can generate alternating current through the limiting force of the reaction force motor 240, convert the alternating current into direct current and charge the battery 270 with the direct current.

[0028] Fig. Figure 3 is a view showing a configuration of a steering control device for a vehicle according to an exemplary embodiment.

[0029] Referring to Fig. 3. According to one embodiment, the vehicle steering control device 110 can include a training mode determination unit 310, which determines whether to execute the training mode of the reaction force motor 240 based on training request information entered by the user when vehicle driving information about the vehicle and / or user information meets a preset condition; a load generation unit 320, which generates a load through the reaction force motor 240 by controlling that upper switching elements or lower switching elements for each phase of the inverter 230 perform a switching operation simultaneously, depending on whether the training mode is executed; and a state output unit 330, which calculates and outputs training state information from the start time of the execution of the training mode.

[0030] If vehicle driving information obtained from a variety of sensors mounted on the vehicle and / or user information meets the preset condition, the training mode determination unit 310 can determine to execute the training mode of the reaction force motor 240 based on the training request information entered by the user. For example, the training mode determination unit 310 can specify as a condition for executing the training mode if the vehicle's state, determined from the vehicle driving information, is a parked or stopped state, or if the user's state, determined from the user information, is a drowsy driving state or a long-term driving state.Accordingly, if the vehicle meets the preset practice mode execution condition, the practice mode determination unit 310 can determine that the practice mode of the reaction force motor 240 is executed, depending on whether practice request information is entered by the user.

[0031] As another example, when it is determined that the exercise mode should be executed, the exercise mode determination unit 310 can determine that at least one exercise component, direction, or angle is modified based on the exercise mode execution step selected by the user, and execute the exercise mode. In particular, the exercise mode execution step can select a range in which an exercise using the steering wheel 100 is possible according to the user's intention, such as an arm or shoulder exercise, a right or left turn exercise, or a ±120-degree turn exercise.

[0032] When the execution of the exercise mode is detected, the load generation unit 320 can generate a load through the reaction force motor 240 by controlling either the upper or lower switching elements for each phase of the inverter 230 to perform a switching operation simultaneously. For example, the load generation unit 320 can generate a load by controlling the switching operation based on a torque sensor signal from the reaction force motor. Specifically, the load generation unit 320 can control the switching operation so that either all upper switching elements or all lower switching elements for each phase of the inverter 230 are turned on to short-circuit the motor coil of each phase of the reaction force motor 240 and generate a load.

[0033] When generating and providing a load according to the execution of the training mode, the load generation unit 320 can only actuate the steering feedback actuator, while the operation of the road wheel actuator, including, for example, the steering motor and the rack, is stopped. For instance, when the training mode is executed, the load generation unit 320 can stop the operation of the steering motor even if the reaction force motor is operating. As a specific example, when the execution of the training mode is detected, the load generation unit 320 can stop the operation of the steering motor independently of the operation of the reaction force motor and lock the vehicle wheel connected to the steering motor. Since the vehicle wheel is locked, wear on a mechanical component or tire that might occur during the execution of the training mode can thus be prevented.As another example, the Load Generation Unit 320 can adjust the load size by changing the duty cycle used to determine the switching operation and by adjusting the intensity of the exercise depending on the load size. Specifically, the Load Generation Unit 320 can change the duty cycle by adjusting the on or off time of the switching operation and adjust the load, ranging from the optimal load to zero load. Furthermore, the Load Generation Unit 320 can set the intensity of the exercise to high, medium, or low, depending on the size of the generated load.

[0034] The 330 status output unit can calculate and output exercise status information from the start time of the exercise mode. For example, the 330 status output unit can calculate and output the battery charge level, calorie consumption, and exercise time in real time from the start time of the exercise mode to determine the user's exercise volume according to the exercise mode.

[0035] The battery charging unit 340 can charge the battery 270 by utilizing the limiting force of the reaction force motor 240, which is generated when the vehicle's steering wheel 100 is turned during the exercise mode. For example, if the limiting force of the reaction force motor 240 is generated in such a way that the vehicle's steering wheel 100 is turned, while the steering shaft is not turned during the exercise mode, the battery charging unit 340 can convert the alternating current generated by the exercise into direct current and charge the battery 270 with the direct current. In other words, when the exercise mode is executed, the battery charging unit 340 can short-circuit the switching element to interrupt the power supply for generating the limiting force of the reaction force motor 240. Thus, the reaction force motor 240 can operate as a current generator, and the current generated by the reaction force motor 240 can charge the battery 270.

[0036] The exercise mode determination unit 310 can control a program that is implemented as one of the exercise modes using pre-stored data. The status output unit 330 can output an exercise target value, an exercise status, or calorie consumption via the user interface 210, according to the implemented program.

[0037] Fig. Figure 4 is a flowchart illustrating the operation of a steering control device for a vehicle according to an exemplary embodiment.

[0038] Fig. Figure 4 shows an example of a control operation when a steering control device for a vehicle executes the practice mode according to an embodiment. For example, the practice mode determiner unit 310 can receive vehicle driving information and user information and determine whether the state is a practice mode-executable state (S410). For example, the practice mode determiner unit 310 can use the vehicle's driving information to determine whether it is in a parked or stopped state. The driving information can include information used to control the vehicle while driving and information obtained from various units installed in the vehicle. In particular, the driving information can include navigation information, information about the state of the vehicle's steering system, or information about the vehicle's position.For example, the training mode determination unit 310 can determine whether the vehicle is parked or stopped by using, for example, navigation information or vehicle position information per time period. The training mode determination unit 310 can determine the vehicle's parked state using, for example, the vehicle's gyroscope or accelerometer. The training mode determination unit 310 can determine the vehicle's parked state based on the vehicle's position data per time period. The training mode determination unit 310 can preset a threshold speed at which the vehicle can be determined to be stopped, and, if the rotational speed of the vehicle's wheel falls below this threshold speed, determine that the vehicle is stopped.If the vehicle's condition corresponds to the parked or stopped state, the practice mode determination unit 310 can accordingly determine that the preset condition is met.

[0039] As another example, the Exercise Mode Determination Unit 310 can use user information to determine whether the user's condition is one of drowsy driving or long-term driving. User information can include data used to monitor the user's condition while driving the vehicle, as well as data obtained from an infrared camera and a sensor installed in the vehicle. Specifically, user information can include details about the user's movements, facial features, eye and mouth shape, body temperature, pulse, brain activity, or driving time.For example, the Training Mode Determination Unit 310 can determine the user's state of drowsiness by using user movement information, facial information, and information about the shape of the eyes and mouth to detect whether the user is showing signs of drowsiness. The Training Mode Determination Unit 310 can determine the long-term driving state using driving time information from the vehicle. If the user's state corresponds to either drowsy driving or long-term driving, the Training Mode Determination Unit 310 can accordingly determine that the predefined condition is met.

[0040] The Practice Mode Determination Unit 310 can determine that practice mode is executed based on the practice request information (S420) entered by the user. If the vehicle driving information and / or user information meets the preset condition, the Practice Mode Determination Unit 310 can determine to execute practice mode according to the practice request information entered by the user. For example, the Practice Mode Determination Unit 310 can determine, upon receiving practice request information to enter the vehicle's practice mode, by using at least one button press, touch input, or voice recognition from the user. However, the Practice Mode Determination Unit 310 can first determine whether the condition for executing practice mode is met in order to determine whether to execute practice mode based on the entered practice request information.If the vehicle's condition corresponds, for example, to the parked or stopped state, the information regarding the exercise request can be an executable control signal.

[0041] The Load Generation Unit 320 can select the step for executing the exercise mode (S430). For example, the Load Generation Unit 320 can determine a steering wheel operating range to change at least one of the elements—exercise part, exercise direction, or exercise angle—based on the exercise mode execution step selected by the user, and then execute the exercise mode. For example, the Load Generation Unit 320 can determine the step in the exercise mode execution where the steering wheel's operating range was changed to be suitable for one-arm exercises, two-arm exercises, or shoulder exercises, depending on the exercise part. The Load Generation Unit 320 can determine the step in the exercise mode execution where the steering wheel's direction of rotation was changed to one direction: counterclockwise (CCW), clockwise (CW), or both.The Load Generation Unit 320 can set the steering wheel's rotation angle and determine the exercise mode execution step in which the exercise angle is changed to enable an exercise within the preset range. As a specific example, the user can select the execution step for the exercise mode and specify whether to activate two-arm training, bidirectional training, or ±120-degree training.

[0042] The load generation unit 320 can adjust the load magnitude by setting the load strength (S440). For example, the load generation unit 320 can generate a load by switching on either all upper switching elements or all lower switching elements for each phase of the inverter to short-circuit the motor winding of each phase of the reaction force motor. Any multi-phase motor can be used. For example, if it is a five-phase motor, a load can be generated by switching on either all upper or all lower switching elements of the inverter corresponding to the five phases. Another example is that the load generation unit 320 can adjust the load strength by changing the duty cycle to determine the switching operation.For example, to maximize the average size of the generated load, the load generation unit 320 can increase the duty cycle by pulse width modulation and turn the switch on or off depending on the set duty cycle.

[0043] As another example, the load generating unit 320 can switch on the switching elements corresponding to certain phases, thereby generating a load. For example, the load generating unit 320 can switch on only the U and V phases of a three-phase motor, thus generating a load.

[0044] The 330 status output unit can calculate and output exercise status information from the moment the exercise mode (S450) is executed. For example, the 330 status output unit can automatically calculate the exercise volume according to the exercise speed from the start of the exercise mode and automatically calculate and output the calories burned based on the exercise result. Specifically, the 330 status output unit can display fat burning according to the intensity and volume of the exercise, such as improvements in cardiopulmonary function, and automatically calculate and output the exercise volume according to male and female age groups and calculate calorie consumption according to the exercise speed.The status output unit 330 can perform and output Bluetooth communication, individual health settings (exercise recommendations or calorie calculations), suggestions for strength training, and the provision of effects.

[0045] As another example, the state output unit 330 can receive electrical energy generated according to the execution of the exercise mode, charge the battery, and output the charge quantity. Specifically, the state output unit 330 can output the power of the charged battery and a preset permissible charge quantity for the battery. For example, if the exercise intensity is set to high or low, the state output unit 330 can calculate and output the exercise intensity and charge quantity based on the power quantity pre-measured according to the exercise intensity.

[0046] As another example, the state output unit 330 can output a symbol that is trained to be able to receive whether the exercise mode is being executed, or the step of executing exercise mode, or the strength of the exercise.

[0047] Fig. Figure 5 is a view showing a switching operation of a load generating unit according to an exemplary embodiment.

[0048] In Fig. Figure 5 is an example of load generation by controlling the switching operation of the inverter by the load generation unit 320 of the steering control device of a vehicle, as described in an exemplary embodiment. For example, if no steering signal is present due to a torque sensor signal, the load generation unit 320 can generate a load by switching on either all upper or all lower switching elements for each phase of the inverter to short-circuit the motor winding of each phase of the reaction force motor. The switching elements of the inverter can include upper switching elements 520, which are connected to the positive voltage-side switching unit, and lower switching elements 510, which are connected to the negative voltage-side switching unit. For each phase (U-phase, V-phase, and W-phase), two switching elements can be connected in series and connected to the motor winding of each phase of the motor.

[0049] For example, the load generating unit 320 can switch on all three lower switching elements 510, which are connected to the negative voltage side of each phase, and switch off all three upper switching elements 520, which are connected to the positive voltage side of each phase, thereby short-circuiting the motor winding of each phase of the motor. Accordingly, a braking force can be generated by the motor when a throttling force is generated. The load generating unit 320 can switch on all three upper switching elements 520 and switch off all three lower switching elements 510, thereby short-circuiting the motor winding of each phase of the motor. Conversely, if the load generating unit 320 switches off all upper switching elements 520 and the lower switching elements 510, the motor cannot generate a limiting force.

[0050] As another example, the load generation unit 320 can adjust the load size by changing the duty cycle of the switching element. The load size adjustment by the load generation unit 320 can be achieved, for example, by current control using PWM control. In particular, the load generation unit 320 can simultaneously switch off the three lower switching elements 510, which are connected to the negative voltage side, when switched on. In this case, this can be done by controlling the pulse width, which determines the switch-on time. Accordingly, the load generation unit 320 can generate the braking torque of a desired magnitude by controlling the pulse width and adjusting the load size.

[0051] Fig. Figure 6 is a view showing an example of the generation of a load by a load generation unit according to an embodiment.

[0052] In Fig. Figure 6 describes an example of the generation of a load by the load generation unit 320 of the steering control device of a vehicle according to an exemplary embodiment. Fig. 6. Analytical can refer to the theoretical value and FEA to the finite element analysis value resulting from a simulation of brake torque generation. For example, if no steering signal is input due to a torque sensor signal, the load generation unit 320 can short-circuit each phase motor coil of the reaction force motor via the inverter's switching element and generate brake torque from the reaction force motor. The load generation unit 320 can adjust the generated brake torque of the reaction force motor to the system's brake torque using the reduction ratio of the reduction gear, thus generating a desired load. As a specific example, the load generation unit 320 can generate brake torque (holding function) up to 1.8 Nm for the reaction force motor.The 320 power generation unit can generate the system's braking torque of up to 44 Nm using a 22:1 reduction gear. However, the magnitude of the generated braking torque, the system's braking torque, and the reduction ratio are only examples and not limited to these.

[0053] As described above, according to one embodiment, the steering control device can generate a load by means of a braking torque, thereby minimizing the power consumed by the load of the steering wheel of the SbW system.

[0054] The computer system, such as the vehicle's steering control unit, can include at least one or more processors, memory, a storage unit, a user interface input unit, or a user interface output unit, all of which can communicate with each other via a bus. The computer system can also include 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 the memory and / or storage unit. The memory and storage unit can contain various types of volatile / non-volatile storage media. For example, the memory can include read-only memory (ROM) and random-access memory (RAM).

[0055] The following describes a steering control procedure that is derived from the above in conjunction with the Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 to Fig. The steering control device 110 described in section 6 can be used for vehicles.

[0056] Fig. 7 is a flowchart illustrating a steering control procedure for a vehicle according to an exemplary embodiment.

[0057] As in Fig.As shown in Figure 7, the vehicle's steering control procedure can include a step to determine the training mode (S710). For example, based on the training request information entered by the user, the vehicle's steering control device can determine to execute the reaction force motor's training mode if at least one of the vehicle driving information or user information meets the preset condition. For example, the vehicle's steering control device can specify as a condition for executing the training mode if the vehicle's state, as determined from the vehicle's driving information, is a parked or stopped state, or if the user's state, as determined from the user information, is a state of drowsy driving or a long-term driving state.Accordingly, if the vehicle meets the preset condition for executing the training mode, the vehicle's steering control device can determine that the reaction force motor's training mode will be executed, depending on whether the user enters information regarding the training request.

[0058] As another example, the vehicle's steering control device can determine that at least one of the elements of exercise range, exercise direction, or exercise angle is modified based on the user-selected step of executing the exercise mode, and then execute the exercise mode. For example, the step of executing the exercise mode can select a range in which an exercise with the steering wheel is possible according to the user's intention, such as an arm or shoulder exercise, a right or left turn exercise, or a ±120-degree turn exercise.

[0059] The steering control procedure may include a load generation step (S720). For example, the vehicle's steering control device may generate a load through the reaction force motor by being controlled to perform a switching operation simultaneously on the upper switching elements or the lower switching elements for each phase of the inverter. For example, the vehicle's steering control device may control the switching operation to turn on either all the upper switching elements or all the lower switching elements for each phase of the inverter to short-circuit the motor coil of each phase of the reaction force motor and generate a load.

[0060] As another example, the vehicle's steering control system can adjust the load by changing the duty cycle of the shift point and adjusting the force of the movement accordingly. For instance, the vehicle's steering control system can set the force of the movement to high, medium, or low depending on the magnitude of the load.

[0061] The steering control procedure can include a state output step (S730). For example, the vehicle's steering control device can calculate and output information about the exercise state from the start time of the exercise mode execution. Specifically, the vehicle's steering control device can calculate and output the battery charge level based on the exercise, calorie consumption, and exercise time from the start time of the exercise mode execution in real time, in order to determine the user's exercise intensity according to the exercise mode execution.

[0062] The vehicle's steering control procedure may include a battery charging step (S740). For example, the vehicle's steering control device may charge the battery using the limiting force of the reaction force motor, which is generated when the vehicle's steering wheel is turned during the training mode. For example, during the training mode, the vehicle's steering control device may short-circuit the switching element to interrupt the power supply for generating the reaction force motor. This allows the reaction force motor to act as a current generator, and the current generated by the reaction force motor can charge the battery.

[0063] As described above, according to the invention it is possible to provide a steering control device for vehicles and a method for practicing in a vehicle with a vehicle steering system. In particular, it is possible to provide a steering control device and a method that are capable of performing exercises using the vehicle's steering wheel in order to easily carry out exercises while driving and to prevent drowsy driving.

Claims

[1] Steering control device (110) of a vehicle, comprising: a training mode determination unit (310) that determines to execute a training mode of a reaction force motor (240) based on training request information entered by a user when vehicle driving information about the vehicle and / or user information meets a preset condition; a load generating unit (320) that generates a load through the reaction force motor (240) by controlling upper switching elements or lower switching elements for each phase of an inverter (230) to perform a switching operation simultaneously, depending on whether the exercise mode is executed; and a state output unit (330) that calculates and outputs exercise state information from a start time of the execution of the exercise mode, wherein the practice mode determination unit (310) determines that the condition is satisfied when it is determined that the user's state, obtained from the user information, is a drowsy driving state or a long-term driving state, wherein the load generating unit (320) only actuates the reaction force motor of a steering feedback actuator, while the operation of the road wheel actuator including a steering motor and a rack is stopped. [2] Steering control device (110) according to claim 1, wherein the training mode determination unit (310) determines that the condition is met when it is determined that a state of the vehicle obtained from the vehicle driving information is a parked state or a stopped state. [3] Steering control device (110) according to claim 1 or 2, wherein the exercise mode determination unit (310) determines to change at least one element of an exercise part, exercise direction or exercise angle based on a step of executing the exercise mode selected by the user and to execute the exercise mode. [4] Steering control device (110) according to one of claims 1 to 3, wherein the load generation unit (320) adjusts the size of the load by changing a duty cycle of the determination of the switching process and adjusts a strength of the exercise depending on the size of the load. [5] Steering control device (110) according to any one of claims 1 to 4, wherein the load generating unit (320) generates the load by controlling the switching operation based on a torque sensor signal of the reaction force motor (240), and wherein the switching operation comprises turning on all of either the upper switching elements or the lower switching elements for each phase of the inverter (230) to short-circuit a motor winding of each phase of the reaction force motor (240). [6] Steering control device (110) according to one of claims 1 to 5, further comprising a battery charging unit (340) which charges a battery (270) using a limiting force of the reaction force motor (240) which is generated when a steering wheel (100) of the vehicle is turned when the training mode is executed. [7] Steering control device (110) according to claim 6, wherein the status output unit (330) calculates and outputs in real time an exercise time, a calorie consumption and a state of charge of the battery from the start time of the execution of the exercise mode. [8] Steering control procedures for a vehicle, comprising: a practice mode determination step that determines to execute a practice mode of a reaction force motor (240) based on practice request information entered by a user when vehicle driving information about the vehicle and / or user information satisfies a preset condition; a load generation step that generates a load through the reaction force motor (240) by controlling upper switching elements or lower switching elements for each phase of an inverter (230) to perform a switching operation simultaneously, depending on whether the exercise mode is executed; and a state output step that calculates and outputs exercise state information from a start time of the execution of the exercise mode, wherein the practice mode determination unit (310) determines that the condition is satisfied when it is determined that the user's state, obtained from the user information, is a drowsy driving state or a long-term driving state, wherein the load generation step only includes the actuation of the reaction force motor of a steering feedback actuator, while the operation of a road wheel actuator including a steering motor and rack is stopped. [9] Steering control method according to claim 8, wherein the training mode determination step determines that the condition is satisfied when it is determined that a state of the vehicle obtained from the vehicle driving information is a parked state or a stopped state. [10] Steering control method according to claim 8 or 9, wherein the training mode determination step determines to change at least one element of a training part, training direction or training angle based on a step of executing the training mode selected by the user and to execute the training mode. [11] Steering control method according to one of claims 8 to 10, wherein the load generation step sets a magnitude of the load by changing a duty cycle of the determination of the switching process and sets a strength of the exercise depending on the magnitude of the load. [12] Steering control method according to any one of claims 8 to 11, wherein the load generation step generates the load by controlling the switching operation on the basis of a torque sensor signal of the reaction force motor (240), and wherein the switching operation comprises turning on all of either the upper switching elements or the lower switching elements for each phase of the inverter (230) to short-circuit a motor coil of each phase of the reaction force motor. [13] Steering control method according to any one of claims 8 to 12, further comprising a battery charging step which charges a battery (270) using a limiting force of the reaction force motor (240) which is generated when a steering wheel (100) of the vehicle is turned when the training mode is executed. [14] Steering control method according to claim 13, wherein the state output step calculates and outputs in real time a training time, a calorie consumption and a charge level of the battery (270) from the start time of the execution of the training mode.

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