STEERING CONTROL DEVICE AND STEERING CONTROL METHOD OF A VEHICLE

Abstract

The present embodiments relate to a steering control device and a steering control method of a vehicle. A steering control device according to embodiments may include a dual-winding steering motor unit comprising a first winding motor and a second winding motor therein, and a controller configured to switch a drive energy supplied by a power supply unit to drive the dual-winding steering motor unit, to acquire an output value based on a phase current sensing value acquired by a phase current sensor, to compare the output value with a reference value, and to control the dual-winding steering motor unit to a target output value based on the comparison result.

Description

[0001] This application claims priority to Korean Patent Application No. 10-2023-0076645, filed on June 15, 2023. TECHNICAL FIELD

[0002] An embodiment of the present invention relates to a steering control apparatus and a steering control method of a vehicle capable of controlling vehicle steering using an electric motor. BACKGROUND

[0003] An electronic steering device may refer to a device capable of changing a steering angle of a wheel based on a steering force (or turning force) applied by a driver to a steering wheel.

[0004] That is, the steering control device may be a device that assists a steering force so that a driver performs light steering using a steering motor.

[0005] Recently, there has been active research into a redundancy system as a technology related to autonomous driving.

[0006] A steering control device with a redundancy function may generally include multiple sensors, multiple electronic control units (ECUs), and multiple steering motors.

[0007] In a steering control device implementing a redundancy system, a case may occur where the voltages supplied to a plurality of ECUs vary due to a failure or performance deterioration of a converter.

[0008] In this case, if the voltage supplied to one of the ECUs is reduced, a problem may occur in which the overall output of a steering motor is reduced. SUMMARY

[0009] According to the present embodiments, when an output limit occurs due to a decrease in the voltage supplied to any ECU among the plurality of ECUs, a steering control device can maximize an output of the ECU whose output is low and increase an output of the ECU at which the output limit does not occur to keep the entire output at a normal output, thereby stably performing steering of a vehicle.

[0010] According to one aspect of the present invention, there is provided a steering control device of a vehicle, including a double-winding steering motor unit including a first winding motor and a second winding motor therein, and a controller configured to switch a drive power supplied from a power supply unit to drive the double-winding steering motor unit, detect an output value based on a phase current detection value detected by a phase current sensor, compare the output value with a reference value, and control the double-winding steering motor unit to a target output value based on the comparison result.

[0011] The controller may include a first inverter configured to drive the first winding motor by switching the drive power supplied from the power supply unit, a second inverter configured to drive the second winding motor by switching the drive power supplied from the power supply unit, a first controller configured to detect a first output value of the first inverter based on a phase current detection value of the first inverter detected by the phase current sensor; and a second controller configured to detect a second output value of the second inverter based on a phase current detection value of the second inverter detected by the phase current sensor.In this case, the first controller and the second controller may exchange information about the first output value and the second output value through internal communication, compare the first output value and the second output value with the reference value, and determine the target output value according to the comparison result, and the first inverter and the second inverter may control the first winding motor and the second winding motor according to the target output values.

[0012] The power supply unit may include a first drive power supply unit for supplying the drive power to the first inverter. In addition, the first controller may include a first output value detector configured to detect the first output value of the first inverter based on the phase current detection value of the first inverter detected by the phase current sensor; a first output value determiner configured to request the second output value through internal communication, compare the second output value with the reference value, and determine the target output value to output the first output value high when the second output value is lower than the reference value; and a first control signal output unit configured to output a control signal such that the first inverter controls the first winding motor to the target output value according to the target output value.

[0013] The power supply unit may include a second drive power supply unit for supplying the drive power to the second inverter. In addition, the second controller may include a second output value detector configured to detect the second output value of the second inverter based on the phase current detection value of the second inverter detected by the phase current sensor; a second output value determiner configured to request the first output value through internal communication, compare the first output value with the reference value, and determine the target output value to output the second output value high when the first output value is lower than the reference value; and a second control signal output unit configured to output a control signal such that the second inverter controls the second winding motor to the target output value according to the target output value.

[0014] The controller may be configured to detect a maximum output value of the first inverter when the first output value is lower than the reference value, determine the target output value of the second output value in a state where the first output value is output at a maximum such that a value obtained by adding the first output value and the second output value is a preset control value, and output a control signal such that the second inverter controls the second winding motor to the target output value according to the determined target output value.

[0015] The controller may be configured to detect a maximum output value of the second inverter when the second output value is lower than the reference value, determine the target output value of the first output value in a state where the second output value is output at a maximum such that a value obtained by adding the first output value and the second output value is a preset control value, and output a control signal such that the first inverter controls the first winding motor to the target output value according to the determined target output value.

[0016] The controller may be configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter when the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is higher than the reference value, determine the target output values ​​of the first output value and the second output value to be equal such that a sum of the first output value and the second output value is a preset control value, and according to the determined target output values, output a control signal so that the first inverter controls the first winding motor to the target output value, and output a control signal so that the second inverter controls the second winding motor to the target output value.

[0017] The controller may be configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, determine a maximum output value of the first output value and the second output value as the target output value when the maximum output value of the first inverter is lower than the reference value and the maximum output value of the second inverter is lower than the reference value, and output a control signal such that the first inverter controls the first winding motor to the target output value according to the determined target output values, and output a control signal such that the second inverter controls the second winding motor to the target output value.

[0018] The controller may be configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, when the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is higher than the reference value, determine that an operating state of the double-winding steering motor unit is normal, and output normal state information.

[0019] The controller may be configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, when the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is lower than the reference value, determine that an operating state of the double-winding steering motor unit is normal, and simultaneously output a second output value warning and normal state information.

[0020] The controller may be configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, when the maximum output value of the first inverter is lower than the reference value and the maximum output value of the second inverter is higher than the reference value, determine that an operating state of the double-winding steering motor unit is normal, and simultaneously output a first output value warning and normal state information.

[0021] The controller may be configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, when the maximum output value of the first inverter is lower than the reference value and the maximum output value of the second inverter is lower than the reference value, determine that an operating state of the double-winding steering motor unit is an insufficient output state, and output state information indicating the insufficient output state.

[0022] The phase current sensor may include a first shunt sensor connected to a ground terminal of the first inverter and a second shunt sensor connected to a ground terminal of the second inverter.

[0023] According to another aspect of the present invention, there is provided a steering control method of a vehicle, comprising a first control step in which a first controller of a controller detects a first output value of a first inverter based on a phase current detection value of the first inverter detected by a phase current sensor, and compares the first output value with a reference value to determine a target output value according to the comparison result, and the first inverter controls a first winding motor to the target output value;a second control step in which a second controller of the controller detects a second output value of a second inverter based on a phase current detection value of the second inverter detected by the phase current sensor, compares the second output value with a reference value to determine a target output value according to the comparison result, and the second inverter controls a second winding motor to the target output value; and exchanging, by the controller, information about the first output value and the second output value through internal communication includes comparing the first output value and the second output value with the reference value to determine the target output value according to the comparison result.

[0024] The first control step may include detecting, by a first output value detector of the first controller, the first output value of the first inverter based on the phase current detection value of the first inverter detected by the phase current sensor; requesting, by a first output value determiner of the first controller, the second output value through the internal communication; comparing the second output value with the reference value and determining the target output value to output the first output value high when the second output value is lower than the reference value; outputting, by a first control signal output unit, a control signal such that the first inverter controls the first winding motor to the target output value according to the determined target output value; and supplying, by the first inverter, drive power to the first winding motor with the target output value according to the control signal.

[0025] The second control step may include detecting, by a second output value detector of the second controller, the second output value of the second inverter based on the phase current detection value of the second inverter detected by the phase current sensor; requesting, by a second output value determiner of the second controller, the first output value through internal communication, comparing the first output value with the reference value, and determining the target output value to output the second output value high when the first output value is lower than the reference value; outputting, by a second control signal output unit, a control signal such that the second inverter controls the second winding motor to the target output value according to the determined target output value; and supplying, by the second inverter, drive power to the second winding motor at the target output value according to the control signal.

[0026] The controller may detect a maximum output value of the first inverter when the first output value is lower than the reference value, determine the target output value of the second output value in a state where the first output value is output at a maximum such that a value obtained by adding the first output value and the second output value is a preset control value, and output a control signal such that the second inverter controls the second winding motor to the target output value according to the determined target output value.

[0027] The controller may detect a maximum output value of the second inverter when the second output value is lower than the reference value, determine the target output value of the first output value in a state where the second output value is output at a maximum such that a value obtained by adding the first output value and the second output value is a preset control value, and output a control signal such that the first inverter controls the first winding motor to the target output value according to the determined target output value.

[0028] The controller may detect a maximum output value of the first inverter and a maximum output value of the second inverter when the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is higher than the reference value, determine the target output values ​​of the first output value and the second output value to be equal such that a sum of the first output value and the second output value is a preset control value, and according to the determined target output values, output a control signal so that the first inverter controls the first winding motor to the target output value, and output a control signal so that the second inverter controls the second winding motor to the target output value.

[0029] The controller may detect a maximum output value of the first inverter and a maximum output value of the second inverter, determine a maximum output value of the first output value and the second output value as the target output value when the maximum output value of the first inverter is lower than the reference value and the maximum output value of the second inverter is lower than the reference value, and according to the determined target output values, output a control signal so that the first inverter controls the first winding motor to the target output value, and output a control signal so that the second inverter controls the second winding motor to the target output value.

[0030] According to the present embodiments, there can be provided a steering control apparatus and method capable of, when an output limit occurs due to a decrease in the voltage supplied to any ECU among the plurality of ECUs, maximizing an output of the ECU whose output is low and increasing an output of the ECU where the output limit does not occur to maintain the entire output at a normal output, thereby stably performing steering of a vehicle. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 illustrates a steering control device according to an embodiment. Fig. 2 illustrates a block diagram illustrating a power supply unit, a controller, and a dual-winding steering motor unit of a steering control device according to an embodiment. Fig. 3 illustrates a block diagram showing detailed configurations of a power supply unit, a controller, and a double-winding steering motor unit. Fig. 4 is a block diagram illustrating a detailed configuration of a first controller according to an embodiment. Fig. 5 is a block diagram illustrating a detailed configuration of a second controller according to an embodiment. Fig. 6 is a block diagram illustrating detailed configurations of a power supply unit, a controller, and a double-winding steering motor unit according to another embodiment. Fig. 7 is a flowchart illustrating a steering control method of a vehicle according to an embodiment. Fig. 8 is a flowchart illustrating a first control step according to an embodiment. Fig. 9 is a flowchart illustrating a second control step according to an embodiment. DETAILED DESCRIPTION

[0031] In the following description of examples or embodiments of the present invention, 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 numerals and signs may be used to designate the same or similar components even though they are shown in different accompanying drawings from each other. Furthermore, in the following description of examples or embodiments of the present invention, detailed descriptions of well-known functions and components incorporated herein are omitted when it is determined that the description may make the subject matter rather unclear in some embodiments of the present invention.Terms such as "including," "having," "containing," "forming," "constituting," and "formed of" used herein are generally intended to permit the addition of other components unless the terms are used with the term "only." As used herein, singular forms are intended to include plural forms unless the context clearly indicates otherwise.

[0032] Terms such as "first," "second," "A," "B," "(A)," or "(B)" may be used herein to describe elements of the invention. Each of these terms is not used to define the nature, order, sequence, or number of elements, etc., but is used merely to distinguish the corresponding element from other elements.

[0033] When it is mentioned that a first element is "connected or coupled," "in contact with, or overlaps," etc., with a second element, it should be interpreted that not only can the first element be "directly connected or coupled" or "directly in contact with, or overlap" with the second element, but a third element can also be "disposed" between the first and second elements, or the first and second elements can be "connected or coupled," "in contact with, or overlap," etc., to each other via a fourth element. Here, the second element can be included in at least one of two or more elements that are "connected or coupled," "in contact with, or overlap," etc., to each other.

[0034] 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 sequences or steps in methods of operation, processing, or 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.

[0035] Additionally, when mentioning any dimensions, relative sizes, etc., it should be considered that numerical values ​​for elements or characteristics, 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 effects, noise, etc.), even if a relevant description is not provided. Furthermore, the term "could" fully encompasses all meanings of the term "may."

[0036] Fig. 1 illustrates a steering control device according to an embodiment, Fig. 2 illustrates a block diagram illustrating a power supply unit, a controller, and a double-winding steering motor unit of a steering control device according to an embodiment, Fig. 3 illustrates a block diagram showing detailed configurations of a power supply unit, a controller, and a double-winding steering motor unit, Fig. 4 is a block diagram illustrating a detailed configuration of a first controller according to an embodiment, Fig. 5 is a block diagram illustrating a detailed configuration of a second controller according to an embodiment, Fig. 6 is a block diagram illustrating detailed configurations of a power supply unit, a controller, and a double-winding steering motor unit according to another embodiment, Fig. 7 is a flowchart illustrating a steering control method of a vehicle according to an embodiment, Fig. 8 is a flowchart illustrating a first control step according to an embodiment, and Fig. 9 is a flowchart illustrating a second control step according to an embodiment.

[0037] A steering control device of a vehicle may include an electronic power steering (EPS) that uses an electric motor to assist an operating force of a steering wheel, and a steer-by-wire (SBW) steering device in which an upper device including a steering wheel and a reaction force motor and a lower device including a rack and a steering motor are mechanically separated.

[0038] This embodiment can be applied to an electric motor in a column-type electric power steering apparatus (C-EPS), a rack-type electric power steering apparatus (R-EPS), or a steer-by-wire steering apparatus.

[0039] Hereinafter, the structure of the column type electric power steering apparatus in this embodiment will be described as an example, but is not limited thereto and can be applied to all types of steering control apparatuses.

[0040] Fig. 1 illustrates a steering control device according to an embodiment.

[0041] As in Fig. 1, a steering control device according to an embodiment may include a power supply unit 10, a controller 20, a double-winding steering motor unit 30, a steering wheel 40, a steering shaft 50, a steering angle sensor 60, a torque sensor 70, a speed sensor 80, and the like.

[0042] The steering wheel 40 can be rotated by a driver's operation. The steering wheel 40 can be coupled to an input shaft of the steering shaft 50 and can be connected to a rack by a pinion gear connected to the output shaft of the steering shaft 50 and a rack gear.

[0043] The steering shaft 50 may include the input shaft coupled to the steering wheel 40 and an output shaft that rotates together with the input shaft and may be rotated together with the steering wheel 40.

[0044] Although not shown, the steering shaft 50 may be connected to a plurality of reduction gears, and each of the plurality of reduction gears may be coupled to a steering column on which the steering shaft 50 is rotatably supported.

[0045] The steering angle sensor 60 can detect a steering angle generated by a rotation of the steering wheel 40. In addition, the steering angle sensor 60 can output a steering angle signal for the steering angle.

[0046] Here, the steering angle generally cannot be detected unless the steering wheel 40 rotates, and thus the steering angle signal cannot be output unless the steering wheel 40 rotates.

[0047] The torque sensor 70 may detect a steering torque generated by rotation of the steering wheel 40. Additionally, when the steering torque is detected, the torque sensor 70 may output a steering torque signal for the steering torque.

[0048] Here, the steering torque may mean a torque applied to a torsion bar disposed between an input shaft and an output shaft of the steering shaft 50. Therefore, the steering torque can be detected even when the steering wheel 40 is not rotating.

[0049] The speed sensor 80 can detect a speed of a vehicle and output a vehicle speed signal for the vehicle speed.

[0050] The power supply unit 10 serves to supply a constant drive voltage to the controller 20, and the drive voltage may be a DC voltage.

[0051] The controller 20 or a control unit may receive steering information, calculate a target rack position for providing a steering assist force, and output a target current corresponding to the rack position to the dual-winding steering motor unit 30.

[0052] Here, the steering information may include a steering angle signal output by the steering angle sensor 60, a steering torque signal output by the torque sensor 70, and a vehicle speed signal output by the speed sensor 80.

[0053] The controller 20 may be implemented with hardware such as an electronic control unit (ECU) including a microcontroller unit (MCU), an inverter, and a printed circuit board (PCB), and software.

[0054] The dual-winding steering motor unit 30 can receive a target current from the controller 20 and be driven at a torque and speed according to the target current. Although not shown, the dual-winding steering motor unit 30 can transmit torque to the steering shaft 50 through a reduction gear arranged in the steering column.

[0055] The steering control device 1 can assist the operating force of the steering wheel 40 to control the traveling direction of the vehicle so that it changes easily with a smaller force. Specifically, the controller 20 can calculate a target rack position for providing a steering assist force based on steering information from the steering angle sensor 60, the torque sensor 70, and the speed sensor 80, and can output a target current corresponding to the rack position to the dual-winding steering motor unit 30.

[0056] Here, in the steering control device 1, when the steering shaft 50 of the steering column is rotated by the rotation of the double-winding steering motor unit 30, the rack can move left and right through a pinion gear and a rack gear connected to the output end of the steering shaft 50.

[0057] Accordingly, the steering control device 1 can move the wheels connected to both ends of the rack to the left or right by rotating the double-winding steering motor unit 30, which assists the operating force of the steering wheel 40, and can smoothly drive the vehicle in a desired direction.

[0058] The steering motor included in the steering control device 1 may be a double-winding steering motor including a first winding motor and a second winding motor therein, but is not limited thereto.

[0059] The controller 20 can be supplied with the power from the power supply unit 10 and can perform a function of generating and supplying a target current to be supplied to each winding of the first winding motor and the second winding motor using an inverter.

[0060] Fig. 2 illustrates a block diagram illustrating a power supply unit, a controller, and a double-winding steering motor unit of a steering control device according to an embodiment, and Fig. 3 illustrates a block diagram showing detailed configurations of a power supply unit, a controller, and a double-winding steering motor unit.

[0061] As in Fig. 2, the steering control device 1 may include a power supply unit 110, a controller 120 for supplying a target current from the power supply unit 110 to the double-winding steering motor unit 130, and a double-winding steering motor unit 130 driven at torque and speed according to the target current by the controller 120.

[0062] The power supply unit 110 is for supplying a constant drive voltage to the controller 120, and the drive voltage may be a DC voltage.

[0063] The power supply unit 110 may be a battery, and the DC drive voltage may be, but is not limited to, 12 V, 24 V, or 48 V.

[0064] Here, the power supply unit 110 may include a first drive power supply unit 112-1 that supplies drive power to a first inverter and a second drive power supply unit 112-2 that supplies drive power to the second inverter.

[0065] The controller 120 may receive power from the power supply unit 110 and may perform a function of generating and supplying a target current to be supplied to each winding of a first winding motor 132-1 and a second winding motor 132-2 using an inverter.

[0066] The detailed configuration of the controller 120 is shown below based on the Fig. 3 to Fig. 5 described in more detail.

[0067] In this case, a power controller for controlling the power supply from the power supply unit 110 to the controller 120 may further be included.

[0068] The double-winding steering motor unit 130 may include a first winding motor 132-1 and a second winding motor 132-2 therein, and the first winding motor 132-1 and the second winding motor 132-2 may rotate in one direction or in the opposite direction by the target current of the inverter supplied to each winding.

[0069] Therefore, in the steering control device 1, the steering shaft 50 of the steering column can be rotated by the rotation of the double-winding steering motor unit 130 to assist the operating force of the steering wheel 40. The wheels connected to both ends of the rack can rotate left or right through a pinion gear connected to the output end of the steering shaft 50 and a rack gear, so that the vehicle can be steered in a desired direction.

[0070] In one aspect of the present invention, a steering control device may include a double-winding steering motor unit 130 including a first winding motor 132-1 and a second winding motor 132-2 therein, and a controller 120 that switches a drive power supplied from a power supply unit 110 to drive the double-winding steering motor unit 130, detects an output value based on a phase current detection value detected by a phase current sensor, compares the output value with a predetermined reference value, and controls the double-winding steering motor unit 130 to a target output value based on the comparison result.

[0071] The controller 120 can control the double-winding steering motor unit 130 by switching a drive power supplied from a power supply unit 110. Additionally, the controller 120 can detect an output value based on a phase current detection value detected by a phase current sensor, compare the output value with a predetermined reference value, and control the double-winding steering motor unit 130 to a target output value based on the comparison result.

[0072] That is, the controller 120 may output a target current corresponding to the rack position to the double-winding steering motor unit 130 according to the target output value.

[0073] Here, the phase current sensor of the present embodiment may include a first shunt sensor connected to the ground terminal (GND) of the first inverter 124-1 and a second shunt sensor connected to the ground terminal (GND) of the second inverter 124-2.

[0074] The phase current sensor may consist of a current sensor, such as a shunt sensor that uses a resistor, and a Hall sensor that uses a Hall effect.

[0075] As in Fig. 3, the controller 120 may include a first inverter 124-1 that drives the first winding motor 132-1 by switching the drive power supplied from the power supply unit 110, a second inverter 124-2 for driving the second winding motor 132-2 by switching the drive power supplied from the power supply unit 110, a first controller 122-1 for detecting a first output value of the first inverter 124-1 based on the phase current detection value of the first inverter 124-1 detected by the phase current sensor, and a second controller 122-2 for detecting a second output value of the second inverter 124-2 based on the phase current detection value of the second inverter 124-2 detected by the phase current sensor.Additionally, the first controller 122-1 and the second controller 122-2 can exchange first output value and second output value information through internal communication, compare the first output value and the second output value with a preset reference value, and determine a target output value based on the comparison result. The first inverter 124-1 and the second inverter 124-2 can drive the first winding motor 132-1 and the second winding motor 132-2 to the target output value.

[0076] The controller 120 may include an ECU1 consisting of a first inverter 124-1 and a first controller 122-1, and an ECU2 consisting of a second inverter 124-2 and a second controller 122-2.

[0077] The ECU1 may receive drive power from the first drive power supply unit 112-1 to drive the first winding motor 132-1, and the ECU2 may receive drive power from the second drive power supply unit 112-2 to drive the second winding motor 132-2.

[0078] In this case, ECU1 and ECU2 can exchange information through mutual external communication or internal communication.

[0079] The first inverter 124-1 can switch drive power supplied from the first drive power supply unit 112-1 to drive the first winding motor 132-1.

[0080] The second inverter 124-2 can switch drive power supplied from the second drive power supply unit 112-2 to drive the second winding motor 132-2.

[0081] The first controller 122-1 may detect a first output value of the first inverter 124-1 based on the detected phase current value of the first inverter 124-1 detected by the phase current sensor, may compare the first output value and the second output value with a preset reference value, may determine a target output value according to the comparison result, and may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to the target output value according to the determined target output value.

[0082] In this case, the first inverter 124-1 may control the first winding motor 132-1 to the target output value according to the control signal.

[0083] Specifically, the first controller 122-1 may include a first output value detector 222-1 that detects a first output value of the first inverter 124-1 based on the detected value of the phase current of the first inverter 124-1 detected by the phase current sensor, a first output value determiner 224-1 that requests a second output value through internal communication, compares the second output value with a preset reference value, and determines a target output value such that the first output value is output high when the second output value is lower than the preset reference value, and a first control signal output unit 226-1 for outputting a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to the target output value according to the determined target output value.

[0084] Fig. 4 is a block diagram illustrating a detailed configuration of a first controller according to an embodiment.

[0085] With reference to Fig. 4, the first output value detector 222-1 may detect the first output value of the first inverter 124-1 based on the detected value of the phase current of the first inverter 124-1 detected by the phase current sensor.

[0086] The first output value determiner 224-1 may request a second output value through internal communication, compare the second output value with a preset reference value, and determine a target output value such that the first output value is output high when the second output value is lower than the preset reference value.

[0087] Here, when the first output value is lower than the preset reference value, the first output value determiner 224-1 may determine the target output value to output the first output value as the maximum output value that can be currently output.

[0088] The first control signal output unit 226-1 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to the target output value according to the determined target output value.

[0089] The second controller 122-2 may detect a first output value of the second inverter 124-2 based on the detected phase current value of the second inverter 124-2 detected by the phase current sensor, may compare the first output value and the second output value with a preset reference value, may determine a target output value according to the comparison result, and may output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to the target output value according to the determined target output value.

[0090] In this case, the second inverter 124-2 may control the second winding motor 132-2 to the target output value according to the control signal.

[0091] Specifically, the second controller 122-2 may include a second output value detector 222-2 that detects a second output value of the second inverter 124-2 based on the detected value of the phase current of the second inverter 124-2 detected by the phase current sensor, a second output value determiner 224-2 that requests a first output value through internal communication, compares the first output value with a preset reference value, and determines a target output value such that the second output value is output high when the first output value is lower than the preset reference value, and a second control signal output unit 226-2 for outputting a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to the target output value according to the determined target output value.

[0092] Fig. 5 is a block diagram illustrating a detailed configuration of a second controller according to an embodiment.

[0093] With reference to Fig. 5, the second output value detector 222-2 may detect the second output value of the second inverter 124-2 based on the detected value of the phase current of the second inverter 124-2 detected by the phase current sensor.

[0094] The second output value determiner 224-2 may request a first output value through internal communication, compare the first output value with a preset reference value, and determine a target output value such that the second output value is output high when the first output value is lower than the preset reference value.

[0095] At this time, when the second output value is lower than the preset reference value, the second output value determiner 224-2 may determine the target output value to output the second output value as the maximum output value that can be currently output.

[0096] The second control signal output unit 226-2 may output a control signal such that the second inverter 124-2 controls the second winding motor 132-1 to the target output value according to the determined target output value.

[0097] The first controller 122-1 and the second controller 122-2 can exchange first output value and second output value information through mutual internal communication.

[0098] Accordingly, the first controller 122-1 and the second controller 122-2 can compare the first output value and the second output value with a preset reference value and determine the target output value based on the comparison result. Additionally, the first inverter 124-1 can control the first winding motor 132-1, and the second inverter 124-2 can control the second winding motor 132-2 based on the target output value.

[0099] That is, the controller 120 may detect a maximum output value that can be output at the current time of the first inverter 124-1 and a maximum output value that can be output at the current time of the second inverter 124-2. In addition, the controller 120 may determine a target output value of the first output value and the second output value, so that a value obtained by adding the first output value and the second output value becomes a preset control value. Then, based on the determined target output value, the controller 120 may output a control signal so that the first inverter 124-1 controls the first winding motor 132-1 to the target output value, and may output a control signal so that the second inverter 124-2 controls the second winding motor 132-2 to the target output value.

[0100] For example, in the case where the controller 120 detects a maximum output value of the first inverter 124-1 as 2.8 Nm and a maximum output value of the second inverter 124-2 as 2.8 Nm, the controller 120 may determine target output values ​​of the first output value and the second output value as 2.2 Nm and 2.2 Nm, respectively, so that a value obtained by adding the first output value and the second output value becomes a preset control value of 4.4 Nm. Then, the controller 120 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to a target output value of 2.2 Nm, and may output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to a target output value of 2.2 Nm.

[0101] In addition, when the first output value is lower than the preset reference value, the controller 120 of one embodiment may detect a maximum output value that can be output at the current time of the first inverter 124-1 and a maximum output value that can be output at the current time of the second inverter 124-2. In addition, the controller 120 may determine a target output value of the second output value in a state where the first output value is output as the maximum output value, so that a value obtained by adding the first output value and the second output value becomes a preset control value. In addition, the controller 120 may output a control signal so that the second inverter 124-2 controls the second winding motor 132-2 to the target output value according to the determined target output value.

[0102] For example, if the first output value is lower than the preset reference value of 2.2 Nm, the controller 120 may detect the maximum output value of the first inverter 124-1 as 1.7 Nm and the maximum output value of the second inverter 124-2 as 2.8 Nm. In this case, the controller 120 may set the target output value of the second output value to 2.7 Nm in a state where the first output value is the maximum output of 1.7 Nm, so that the value obtained by adding the first output value and the second output value becomes a preset control value of 4.4 Nm. Then, the controller 120 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to a target output value of 1.7 Nm, and may output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to a target output value of 2.7 Nm.

[0103] In this case, when the maximum output value that can be output at the current time of the first inverter 124-1 is lower than the preset reference value and the maximum output value that can be output at the current time of the second inverter 124-2 is higher than the preset reference value, the controller 120 may determine an operating state of the double-winding steering motor unit 130 as a normal state and may simultaneously output a first output value warning and normal state information.

[0104] In addition, when the second output value is lower than the preset reference value, the controller 120 of one embodiment may detect a maximum output value that can be output at the current time of the first inverter 124-1 and a maximum output value that can be output at the current time of the second inverter 124-2. In addition, the controller 120 may determine a target output value of the first output value in a state where the second output value is output as the maximum output value, so that a value obtained by adding the first output value and the second output value becomes a preset control value. In addition, the controller 120 may output a control signal so that the first inverter 124-1 controls the first winding motor 132-1 to the target output value according to the determined target output value.

[0105] For example, if the second output value is lower than the preset reference value of 2.2 Nm, the controller 120 may detect the maximum output value of the first inverter 124-1 as 2.8 Nm and detect the maximum output value of the second inverter 124-2 as 1.7 Nm. In this case, the controller 120 may set the target output value of the first output value to 2.7 Nm in a state where the second output value is the maximum output of 1.7 Nm, so that the value obtained by adding the first output value and the second output value becomes a preset control value of 4.4 Nm. Then, the controller 120 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to a target output value of 2.7 Nm, and may output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to a target output value of 1.7 Nm.

[0106] In this case, when the maximum output value that can be output at the current time of the first inverter 124-1 is higher than the preset reference value and the maximum output value that can be output at the current time of the second inverter 124-2 is lower than the preset reference value, the controller 120 may determine an operating state of the double-winding steering motor unit 130 as a normal state and may simultaneously output a second output value warning and normal state information.

[0107] In addition, the controller 120 may detect a maximum output value that can be output at the current time of the first inverter 124-1 and a maximum output value that can be output at the current time of the second inverter 124-2. In addition, when the maximum output value of the first inverter is higher than the preset reference value and the maximum output value of the second inverter 124-2 is higher than the preset reference value, the controller 120 may determine target output values ​​of the first output value and the second output value to be equal, so that a value obtained by adding the first output value and the second output value becomes a preset control value.Then, based on the determined target output value, the controller 120 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to the target output value, and may output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to the target output value.

[0108] For example, in the case where the controller 120 detects a maximum output value of the first inverter 124-1 as 2.8 Nm and a maximum output value of the second inverter 124-2 as 2.8 Nm, the controller 120 may determine target output values ​​of the first output value and the second output value as 2.2 Nm and 2.2 Nm, respectively, so that a value obtained by adding the first output value and the second output value becomes a preset control value of 4.4 Nm. Then, the controller 120 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to a target output value of 2.2 Nm, and may output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to a target output value of 2.2 Nm.

[0109] In this case, when the maximum output value that can be output at the current time of the first inverter 124-1 is higher than the preset reference value and the maximum output value that can be output at the current time of the second inverter 124-2 is higher than the preset reference value, the controller 120 may determine an operating state of the double-winding steering motor unit 130 as a normal state and may output normal state information.

[0110] Additionally, the controller 120 may detect a maximum output value that can be output at the current time of the first inverter 124-1 and a maximum output value that can be output at the current time of the second inverter 124-2. In addition, if the maximum output value of the first inverter is lower than the preset reference value and the maximum output value of the second inverter 124-2 is lower than the preset reference value, the controller 120 may determine the maximum output value of the first output value and the second output value as the target output value.Then, based on the determined target output value, the controller 120 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to the target output value, and may output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to the target output value.

[0111] For example, if the controller 120 detects a maximum output value of the first inverter 124-1 as 1.7 Nm and a maximum output value of the second inverter 124-2 as 1.7 Nm, the controller 120 may determine a maximum output value of 1.7 Nm of the first output value and the second output value as a target output value. Then, the controller 120 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to a target output value of 2.2 Nm, and may output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to a target output value of 2.2 Nm.

[0112] In this case, when the maximum output value that can be output at the current time of the first inverter 124-1 is lower than the preset reference value and the maximum output value that can be output at the current time of the second inverter 124-2 is lower than the preset reference value, the controller 120 may determine that an operating state of the double-winding steering motor unit 130 is an insufficient output state and output state information indicating the insufficient output state.

[0113] Here, the status information can be output by a display unit that includes a liquid crystal display (LCD), a head-up display (HUD), and the like.

[0114] The display unit may include an audio output module, such as a speaker capable of outputting audio data.

[0115] Fig. 6 is a block diagram illustrating detailed configurations of a power supply unit, a controller, and a double-winding steering motor unit according to another embodiment.

[0116] In another embodiment, the power supply unit 310 may include a first drive power supply unit 312-1 and a second drive power supply unit 312-2, and the controller 320 may include an ECU1 consisting of a controller 322-1 and a first inverter 324-1, and an ECU2 consisting of a second inverter 324-2, and the steering motor unit 330 may include a first motor 332-1 and a second motor 332-2.

[0117] Here, the steering motor unit 330 may be composed of a first motor 332-1 and a second motor 332-2 that are different from each other, or may be configured with a double-winding steering motor that includes a first winding motor and a second winding motor therein.

[0118] The ECU1 may receive drive power from the first drive power supply unit 312-1 to drive the first motor 332-1, and the ECU2 may receive drive power from the second drive power supply unit 312-2 to drive the second motor 332-2.

[0119] In this case, the ECU1 and the ECU2 can exchange information through mutual external communication or internal communication, and the controller 322-1 can control the first inverter 324-1 and the second inverter 324-2 through external communication or internal communication.

[0120] The first inverter 324-1 can switch drive power supplied from the first drive power supply unit 312-1 to drive the first motor 332-1.

[0121] The second inverter 324-2 can switch drive power supplied from the second drive power supply unit 312-2 to drive, ie, drive, the second motor 332-2.

[0122] The controller 322-1 may detect a first output value of the first inverter 324-1 based on the phase current detection value of the first inverter 324-1 detected by the phase current sensor, and compare the first output value and the second output value with a preset reference value. Additionally, the controller 322-1 may determine a target output value based on the comparison result and output a control signal so that the first inverter 324-1 controls the first motor 332-1 to the target output value according to the determined target output value.

[0123] Additionally, the controller 322-1 may detect a second output value of the second inverter 324-2 based on the phase current detection value of the second inverter 324-2 detected by the phase current sensor, and compare the first output value and the second output value with a preset reference value. Additionally, the controller 322-1 may determine a target output value based on the comparison result and output a control signal so that the second inverter 324-2 controls the second motor 332-2 to the target output value according to the determined target output value.

[0124] In this case, the controller 322-1 may determine the target output value of the first output value and the second output value so that a value obtained by adding the first output value and the second output value becomes a preset control value.

[0125] The first inverter 324-1 may control the first motor 332-1 to a target output value according to the control signal, and the second inverter 324-2 may control the second motor 332-2 to a target output value according to the control signal.

[0126] Fig. 7 is a flowchart illustrating a steering control method of a vehicle according to an embodiment.

[0127] In another aspect, a steering control method of a vehicle according to an embodiment may include a first control step in which a first controller 122-1 of a controller 120 detects a first output value of a first inverter 124-1 based on a phase current detection value of the first inverter detected by a phase current sensor, and compares the first output value with a reference value to determine a target output value according to the comparison result, and the first inverter 124-1 controls a first winding motor 132-1 to the target output value (S500);a second control step in which a second controller 122-2 of the controller 120 detects a second output value of a second inverter 124-2 based on a phase current detection value of the second inverter 124-2 detected by the phase current sensor, compares the second output value with a reference value to determine a target output value according to the comparison result, and the second inverter 124-2 controls a second winding motor 132-2 to the target output value (S600). In this case, the controller 120 may exchange information about the first output value and the second output value through internal communication, compare the first output value and the second output value with the reference value to determine the target output value according to the comparison result.

[0128] In the first control step (S500), the first controller 122-1 of the controller 120 may detect a first output value of a first inverter 124-1 based on a phase current detection value of the first inverter detected by a phase current sensor, and compare the first output value with a reference value to determine a target output value according to the comparison result, and the first inverter 124-1 may control a first winding motor 132-1 to the target output value.

[0129] In the second control step (S600), a second controller 122-2 of the controller 120 may detect a second output value of a second inverter 124-2 based on a phase current detection value of the second inverter 124-2 detected by the phase current sensor, and compare the second output value with a reference value to determine a target output value according to the comparison result, and the second inverter 124-2 may control a second winding motor 132-2 to the target output value.

[0130] In this case, the controller 120 may exchange information about the first output value and the second output value through internal communication.

[0131] In addition, the controller 120 may compare the first output value and the second output value with the reference value and determine a target output value such that a value obtained by adding the first output value and the second output value becomes a preset control value according to the comparison result.

[0132] Fig. 8 is a flowchart illustrating a first control step according to an embodiment.

[0133] Specifically, the first control step (S500) may include: detecting, by a first output value detector 222-1 of the first controller 122-1, the first output value of the first inverter 124-1 based on the phase current detection value of the first inverter 124-1 detected by the phase current sensor (S520); requesting, by a first output value determiner 224-1 of the first controller 122-1, the second output value through the internal communication, comparing the second output value with the reference value, and determining the target output value to output the first output value high when the second output value is lower than the reference value (S540); Outputting, by a first control signal output unit 226-1 of the first controller 122-1, a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to the target output value according to the determined target output value (S560);and supplying, by the first inverter 124-1, drive power to the first winding motor 132-1 with the target output value according to the control signal (S580).;

[0134] That is, in step S520, the first output value detector 222-1 of the first controller 122-1 may detect the first output value of the first inverter based on the phase current detection value of the first inverter 124-1 detected by the phase current sensor.

[0135] In addition, in step S540, the first output value determiner 224-1 of the first controller 122-1 may request the second output value through the internal communication, compare the second output value with the reference value, and determine the target output value to output the first output value high when the second output value is lower than the reference value.

[0136] In addition, in step S560, the first control signal output unit 226-1 of the first controller 122-1 may output a control signal so that the first inverter 124-1 controls the first winding motor 132-1 to the target output value according to the determined target output value.

[0137] Further, in step S580, the first inverter 124-1 may supply the drive power to the first winding motor 132-1 according to the control signal to the target output value.

[0138] Fig. 9 is a flowchart illustrating a second control step according to an embodiment

[0139] The second control step (S600) may include: detecting, by a second output value detector 222-2 of the second controller 122-2, the second output value of the second inverter 124-2 based on the phase current detection value of the second inverter 124-2 detected by the phase current sensor (S620); requesting, by a second output value determiner 224-2 of the second controller 122-2, the first output value through the internal communication, comparing the first output value with the reference value, and determining the target output value to output the second output value high when the first output value is lower than the reference value (S640); outputting, by a second control signal output unit 226-2 of the second controller 122-2, a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to the target output value according to the determined target output value (S660);and supplying, by the second inverter 124-2, drive power to the second winding motor 132-2 with the target output value according to the control signal (S680).;

[0140] That is, in step S620, the second output value detector 222-2 of the second controller 122-2 may detect the second output value of the second inverter 124-2 based on the phase current detection value of the second inverter 124-2 detected by the phase current sensor.

[0141] In addition, in step S640, the second output value determiner 224-2 of the second controller 122-2 may request the first output value through the internal communication, compare the first output value with the reference value, and determine the target output value to output the second output value high when the first output value is lower than the reference value.

[0142] In addition, in step S660, the second control signal output unit 226-2 of the second controller 122-2 may output a control signal so that the second inverter 124-2 controls the second winding motor 132-2 to the target output value according to the determined target output value.

[0143] Further, in step S680, the second inverter 124-2 may supply the drive power to the second winding motor 132-2 according to the control signal to the target output value.

[0144] The controller 120 of the present embodiment may detect a maximum output value that can be output at the current time of the first inverter 124-1 when the first output value is lower than the reference value. In addition, the controller 120 may determine the target output value of the second output value in a state where the first output value is output at a maximum, so that a value obtained by adding the first output value and the second output value is a preset control value. In addition, the controller 120 may output a control signal so that the second inverter 124-2 controls the second winding motor 132-2 to the target output value according to the determined target output value.

[0145] The controller 120 may detect a maximum output value that can be output at the current time of the second inverter 124-2 when the second output value is lower than the reference value. In addition, the controller 120 may determine the target output value of the first output value in a state where the second output value is output at a maximum, so that a value obtained by adding the first output value and the second output value is a preset control value. In addition, the controller 120 may output a control signal so that the first inverter 124-1 controls the first winding motor 132-1 to the target output value according to the determined target output value.

[0146] Alternatively, the controller 120 may detect a maximum output value that can be output at the current time of the first inverter 124-1 and a maximum output value that can be output at the current time of the second inverter 124-2. If the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is higher than the reference value, the controller 120 may determine the target output values ​​of the first output value and the second output value to be equal, so that a sum of the first output value and the second output value is a preset control value.In addition, according to the determined target output values, the controller 120 may output a control signal such that the first inverter 124-1 controls the first winding motor 132-1 to the target output value, and output a control signal such that the second inverter 124-2 controls the second winding motor 132-2 to the target output value.

[0147] In addition, the controller 120 may detect a maximum output value that can be output at the current time of the first inverter 124-1 and a maximum output value that can be output at the current time of the second inverter 124-2. The controller 120 may determine a maximum output value of the first output value and the second output value as the target output value when the maximum output value of the first inverter 124-1 is lower than the reference value and the maximum output value of the second inverter 124-2 is lower than the reference value. In addition, according to the determined target output values, the controller 120 may output a control signal so that the first inverter 124-1 controls the first winding motor 132-1 to the target output value and output a control signal so that the second inverter 124-2 controls the second winding motor 132-2 to the target output value.

[0148] As described above, according to the present embodiments, when an output limit occurs due to a decrease in the voltage supplied to any ECU among the plurality of ECUs, it is possible to maximize an output of the ECU whose output is low and increase an output of the ECU at which the output limit does not occur to keep the entire output at a normal output, thereby stably performing steering of a vehicle.

[0149] The above description has been presented to enable a person skilled in the art to make and use the technical idea of ​​the present disclosure, and has been provided in the context of a particular application and its requirements. Various modifications, additions, and substitutions to the described embodiments will be 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 provide an example of the technical idea of ​​the present disclosure for illustrative purposes only. That is, the disclosed embodiments are intended to illustrate the scope of the technical idea of ​​the present disclosure.Thus, the scope of the present disclosure is not limited to the embodiments shown, but is intended to be accorded the broadest scope consistent with the claims. The scope of the present disclosure should be interpreted based on the following claims, and all technical ideas within the scope of equivalents thereof should be construed as being included within the scope of the present disclosure. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] KR 10-2023-0076645

[0001]

Claims

[1] Steering control device of a vehicle, comprising: a double-winding steering motor unit including a first winding motor and a second winding motor therein; and a controller configured to switch a drive power supplied from a power supply unit to drive the double-winding steering motor unit, to detect an output value based on a phase current detection value detected by a phase current sensor, and compare the output value with a reference value and control the double winding steering motor unit to a target output value based on the comparison result. [2] The steering control device according to claim 1, wherein the controller comprises: a first inverter configured to drive the first winding motor by switching the drive power supplied from the power supply unit; a second inverter configured to drive the second winding motor by switching the drive power supplied from the power supply unit; a first controller configured to detect a first output value of the first inverter based on a phase current detection value of the first inverter detected by the phase current sensor; and a second controller configured to detect a second output value of the second inverter based on a phase current detection value of the second inverter detected by the phase current sensor, wherein the first controller and the second controller are configured to exchange information about the first output value and the second output value through internal communication, compare the first output value and the second output value with the reference value, and determine the target output value according to the comparison result, and wherein the first inverter and the second inverter are configured to control the first winding motor and the second winding motor according to the target output values. [3] The steering control device according to claim 2, wherein the power supply unit comprises a first drive power supply unit for supplying the drive power to the first inverter, wherein the first controller comprises: a first output value detector configured to detect the first output value of the first inverter based on the phase current detection value of the first inverter detected by the phase current sensor; a first output value determiner configured to request the second output value through the internal communication, compare the second output value with the reference value, and determine the target output value to output the first output value high when the second output value is lower than the reference value; and a first control signal output unit configured to output a control signal such that the first inverter controls the first winding motor to the target output value according to the target output value. [4] The steering control device according to claim 2, wherein the power supply unit comprises a second drive power supply unit for supplying the drive power to the second inverter, the second controller comprising: a second output value detector configured to detect the second output value of the second inverter based on the phase current detection value of the second inverter detected by the phase current sensor; a second output value determiner configured to request the first output value through the internal communication, compare the first output value with the reference value, and determine the target output value to output the second output value high when the first output value is lower than the reference value; and a second control signal output unit configured to output a control signal such that the second inverter controls the second winding motor to the target output value according to the target output value. [5] Steering control device according to one or more of claims 2 to 4, wherein the controller is configured to to detect a maximum output value of the first inverter if the first output value is lower than the reference value, to determine the target output value of the second output value in a state where the first output value is output at a maximum, so that a value obtained by adding the first output value and the second output value is a preset control value, and output a control signal so that the second inverter controls the second winding motor to the target output value according to the determined target output value. [6] Steering control device according to one or more of claims 2 to 5, wherein the controller is configured to to detect a maximum output value of the second inverter when the second output value is lower than the reference value, to determine the target output value of the first output value in a state where the second output value is output at a maximum, so that a value obtained by adding the first output value and the second output value is a preset control value, and output a control signal so that the first inverter controls the first winding motor to the target output value according to the determined target output value. [7] Steering control device according to one or more of claims 2 to 6, wherein the controller is configured to to record a maximum output value of the first inverter and a maximum output value of the second inverter, if the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is higher than the reference value, to determine the target output values ​​of the first output value and the second output value to be equal, so that a sum of the first output value and the second output value is a preset control value, and according to the determined target output values, output a control signal so that the first inverter controls the first winding motor to the target output value, and output a control signal so that the second inverter controls the second winding motor to the target output value. [8] Steering control device according to one or more of claims 2 to 7, wherein the controller is configured to to record a maximum output value of the first inverter and a maximum output value of the second inverter, to determine a maximum output value of the first output value and the second output value as the target output value when the maximum output value of the first inverter is lower than the reference value and the maximum output value of the second inverter is lower than the reference value, and according to the determined target output values, output a control signal so that the first inverter controls the first winding motor to the target output value, and output a control signal so that the second inverter controls the second winding motor to the target output value. [9] The steering control device according to one or more of claims 2 to 8, wherein the controller is configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, and when the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is higher than the reference value, determine that an operating state of the double-winding steering motor unit is normal and output normal state information. [10] The steering control device according to one or more of claims 2 to 9, wherein the controller is configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, and when the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is lower than the reference value, determine that an operating state of the double-winding steering motor unit is normal, and simultaneously output a second output value warning and normal state information. [11] The steering control device according to one or more of claims 2 to 10, wherein the controller is configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, and when the maximum output value of the first inverter is lower than the reference value and the maximum output value of the second inverter is higher than the reference value, determine that an operating state of the double-winding steering motor unit is normal, and simultaneously output a first output value warning and normal state information. [12] The steering control device according to one or more of claims 2 to 11, wherein the controller is configured to detect a maximum output value of the first inverter and a maximum output value of the second inverter, and when the maximum output value of the first inverter is lower than the reference value and the maximum output value of the second inverter is lower than the reference value, determine that an operating state of the double-winding steering motor unit is an insufficient output state, and output state information indicating the insufficient output state. [13] Steering control device according to one or more of claims 2 to 12, wherein the phase current sensor comprises: a first shunt sensor connected to a ground terminal of the first inverter; and a second shunt sensor connected to a ground terminal of the second inverter. [14] A steering control method of a vehicle, comprising: a first control step in which a first controller of a controller detects a first output value of a first inverter based on a phase current detection value of the first inverter detected by a phase current sensor, and compares the first output value with a reference value to determine a target output value according to the comparison result, and the first inverter controls a first winding motor to the target output value; a second control step in which a second controller of the controller detects a second output value of a second inverter based on a phase current detection value of the second inverter detected by the phase current sensor, and compares the second output value with a reference value to determine a target output value according to the comparison result, and the second inverter controls a second winding motor to the target output value; and Exchanging, by the controller, information about the first output value and the second output value through internal communication, comparing the first output value and the second output value with the reference value to determine the target output value according to the comparison result. [15] A steering control method according to claim 14, wherein the first control step comprises: detecting, by a first output value detector of the first controller, the first output value of the first inverter based on the phase current detection value of the first inverter detected by the phase current sensor; Requesting, by a first output value determiner of the first controller, the second output value through the internal communication, comparing the second output value with the reference value, and determining the target output value to output the first output value high when the second output value is lower than the reference value; Outputting, by a first control signal output unit of the first controller, a control signal such that the first inverter controls the first winding motor to the target output value according to the determined target output value; and Supplying, by the first inverter, drive power to the first winding motor having the target output value according to the control signal. [16] A steering control method according to claim 14, wherein the second control step comprises: Detecting, by a second output value detector of the second controller, the second output value of the second inverter based on the phase current detection value of the second inverter detected by the phase current sensor; Requesting, by a second output value determiner of the second controller, the first output value through the internal communication, comparing the first output value with the reference value, and determining the target output value to output the second output value high when the first output value is lower than the reference value; Outputting, by a second control signal output unit of the second controller, a control signal such that the second inverter controls the second winding motor to the target output value according to the determined target output value; and Supplying, by the second inverter, drive power to the second winding motor having the target output value according to the control signal. [17] The steering control method according to one or more of claims 14 to 16, wherein the controller detects a maximum output value of the first inverter when the first output value is lower than the reference value, determines the target output value of the second output value in a state where the first output value is output at a maximum such that a value obtained by adding the first output value and the second output value is a preset control value, and outputs a control signal such that the second inverter controls the second winding motor to the target output value according to the determined target output value. [18] The steering control method according to one or more of claims 14 to 17, wherein the controller detects a maximum output value of the second inverter when the second output value is lower than the reference value, determines the target output value of the first output value in a state where the second output value is output at a maximum such that a value obtained by adding the first output value and the second output value is a preset control value, and outputs a control signal such that the first inverter controls the first winding motor to the target output value according to the determined target output value. [19] The steering control method according to one or more of claims 14 to 18, wherein the controller detects a maximum output value of the first inverter and a maximum output value of the second inverter, when the maximum output value of the first inverter is higher than the reference value and the maximum output value of the second inverter is higher than the reference value, determines the target output values ​​of the first output value and the second output value to be equal so that a sum of the first output value and the second output value is a preset control value, and according to the determined target output values, outputs a control signal so that the first inverter controls the first winding motor to the target output value, and outputs a control signal so that the second inverter controls the second winding motor to the target output value. [20] The steering control method according to one or more of claims 14 to 19, wherein the controller detects a maximum output value of the first inverter and a maximum output value of the second inverter, determines a maximum output value of the first output value and the second output value as the target output value when the maximum output value of the first inverter is lower than the reference value and the maximum output value of the second inverter is lower than the reference value, and according to the determined target output values, outputs a control signal so that the first inverter controls the first winding motor to the target output value, and outputs a control signal so that the second inverter controls the second winding motor to the target output value.

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