Electronic steering device for vehicle and methods for controlling it

Abstract

Electronic steering device for a vehicle, wherein the electronic steering device comprises: a first and a second drive module (60, 65) configured to drive a drive motor (70) by being supplied with electrical power by a first and a second power supply module (20, 25), respectively; a first and a second sensor module (30, 35) configured to detect states of the first and second power supply module (20, 25) and states of the first and second drive module (60, 65); a first and a second output module (80, 85) coupled to a vehicle control device; and a first and a second processor (50, 55) which are operationally coupled with the first and second drive module (60, 65), the first and second sensor module (30, 35) and the first and second output module (80, 85), characterized in that the first and second processors (50, 55) receive results of the detection from the first and second sensor modules (30, 35), respectively, calculate the charging capacities of the first and second power supply modules (20, 25) and the electrical power consumed by the electronic steering device, and determine whether the power supply states are normal by comparing them with each other.

Description

BACKGROUND AREA

[0001] The present disclosure relates to an electronic steering apparatus for a vehicle and a method for controlling the electronic steering apparatus for a vehicle, and more particularly to an electronic steering apparatus for a vehicle, the apparatus being capable of performing a failure operation by diagnosing a failure in a common part when operated by being supplied with separate electric power from a battery pack in an electric vehicle equipped with a steer-by-wire (SBW) system, and a method for controlling the electronic steering apparatus for a vehicle. DISCUSSION OF THE STATE OF THE ART

[0002] Typically, power steering systems have been developed and used for vehicle steering devices to assist drivers in operating the steering wheel and facilitate vehicle operation. The developed and used power steering systems are divided into hydraulic steering systems that use hydraulic pressure, motor-driven hydraulic steering systems that simultaneously utilize hydraulic pressure and the electromotive force of a motor, and motor-driven steering systems that use only the electromotive force of the motor.

[0003] In recent years, steer-by-wire (SBW) systems have been developed and deployed. In SBW systems, a steering column or a mechanical connecting device, such as a universal joint and pinion shaft, between a steering wheel and a vehicle wheel is removed, and vehicle steering is performed by controlling the drive of a motor connected to a rack via an electrical signal.

[0004] The SBW system may be configured to include a steering wheel rotated by a driver for a steering operation, a reaction motor installed on one side of the steering wheel and providing a reaction torque corresponding to the rotation of the steering wheel, a steering motor connected to a rack and performing the steering operation, sensors measuring a steering angle, a vehicle speed, and a torque of the steering wheel, respectively, and an electronic control device driving the steering motor and the reaction motor according to electrical signals input from the sensors.

[0005] The SBW system has no mechanical linkage structure. This reduces driver injuries caused by a mechanism during a vehicle collision. Furthermore, the number of components for the mechanical linkage can be reduced. Accordingly, the vehicle weight can be reduced, and unnecessary energy consumption during steering can be reduced. The SBW system has the advantage of achieving optimal steering behavior by programming the electronic control device. For this reason, there is a trend toward the gradual increase in the use of the SBW system.

[0006] The mechanical linkage structure used in an existing steering system is eliminated in the SBW system. Thus, the SBW system offers advantages such as increasing the degree of freedom in configuring a steering system, improving fuel efficiency, and eliminating reverse interference from a vehicle wheel. However, if a failure occurs in an electrical and electronic component within the SBW system, it becomes impossible to perform steering using only a hardware (H / W) component because it will switch to a safe state and interrupt the operation of an electrical and electronic system.

[0007] Therefore, all components of the SBW system, such as sensors and motors, are designed redundantly. Redundant systems must be supplied with electrical power independently from separate vehicle power systems.

[0008] However, the separation of electrical power and redundant design per vehicle incur significant costs, thus undermining competitiveness through mass production. Therefore, the current situation requires a structure, functional, and safety method that can reduce the costs of the SBW system.

[0009] The prior art of the present disclosure is disclosed in KR 10 2018 0 007 393 A (published on January 23, 2018 and entitled "Device for controlling steering in a steer-by-wire system and method therefor"). Further prior art includes JP 2004-276 833 A, US 2002 / 0 084 757 A1, and US 2017 / 0 272 009 A1. SUMMARY

[0010] An object of the present disclosure, which aims to solve the above-mentioned problems, is to provide an electronic steering device for a vehicle, the device capable of performing a fault operation by diagnosing a fault in a common part when operated by being supplied with separate electric power from a battery pack in an electric vehicle equipped with a steer-by-wire (SBW) system, and a method for controlling the electronic steering device for a vehicle. The object is achieved by an electronic steering device according to claim 1 and by a method according to claim 9. Advantageous further developments are the subject of the dependent claims.

[0011] According to one aspect of the present disclosure, there is provided an electronic steering apparatus for a vehicle, the electronic steering apparatus comprising: first and second drive modules configured to drive a drive motor by being supplied with electrical power from first and second power supply modules, respectively; first and second sensor modules configured to detect states of the first and second power supply modules and states of the first and second drive modules, respectively; first and second output modules coupled to a vehicle control device; and first and second processors operatively connected to the first and second drive modules, the first and second sensor modules, and the first and second output modules.second output module, wherein the first and second processors each execute an application program and thus receive results of the detection from the first and second sensor modules, respectively, calculate charging capacities of the first and second power supply modules and electrical power consumed by the electronic steering device, determine by comparing the power supply states with each other whether the power supply states are normal, then control the first and second drive modules by limiting a power of the drive motor, calculate a speed limit value and output the calculated speed limit value together with an error state via the first and second output modules, respectively.

[0012] In the electronic steering device, the first and second power supply modules may each supply the electric power of a low-voltage DC conversion module that converts a high voltage of a battery pack into a low voltage, or they may charge a first or a second storage battery with the electric power of the low-voltage DC conversion module and thus supply electric power, but each of the first and second power supply modules may supply the electric power via the first or second storage battery.

[0013] In the electronic steering device, the drive motor may be a double-winding motor driven by both the first and second drive modules.

[0014] In the electronic steering device, the drive motor may be either a reaction motor that provides a steering feel when a steering wheel is turned or a steering motor that steers a vehicle wheel.

[0015] In the electronic steering device, the first and second processors may stop the operation of the reaction motor when the power supply conditions are abnormal.

[0016] In the electronic steering device, the first sensor module can detect one or more of the following states: a state of the first power supply module indicating a capacitance, an output voltage, and a temperature; a state of the first drive module indicating an output voltage, an output electrical current, and a temperature applied by the first drive module to the drive motor in a manner that varies with the number of phases; and a state of the first processor indicating the drive electrical current; and the second sensor module can detect one or more of the following states: a state of the second power supply module indicating a capacitance, an output voltage, and a temperature; a state of the second drive module indicating an output voltage, an output electrical current, and a temperature applied by the second drive module to the drive motor in a manner that varies with the number of phases.which varies with the number of phases, and a state of the second processor indicating the electrical drive current.

[0017] In the electronic steering device, when the first and second processors compare the power supply conditions with each other and a difference between the output voltages of the first and second power supply modules is outside a preset range, the first and second processors may determine that the power supply conditions are abnormal.

[0018] In the electronic steering device, the first and second processors can calculate a speed limit in real time according to the charge states of the first and second power supply modules, respectively, and according to the electric power consumed by the electronic steering device.

[0019] According to a further aspect of the present disclosure, there is provided a method for controlling an electronic steering device for a vehicle, the method comprising: receiving, by first and second processors, results of detection from first and second sensor modules, respectively; calculating, by the first and second processors, charging capacities of first and second power supply modules and electric power consumed by the electronic steering device from the respective results of detection; determining, by the first and second processors, whether power supply conditions are normal or not by comparing the power supply conditions with each other; controlling, by the first and second processors, a first and secondsecond drive module by controlling a power of a drive motor based on results of determining whether the electrical power conditions are normal or not; and outputting, by the first and second processors, a calculated speed limit value and an error condition via first and second output modules, respectively, based on the results of determining whether the electrical power conditions are normal or not.

[0020] In the method, upon receiving, by the first and second processors, the results of the detection from the first and second sensor modules, respectively, the first processor may receive from the first sensor module a capacitance, a voltage, and a temperature of the first power supply module, a voltage, an electric current, and a temperature applied by the first drive module to the drive motor in a manner that varies with the number of phases, and a drive electric current of the first processor, and the second processor may receive from the second sensor module a capacitance, a voltage, and a temperature of the second power supply module, a voltage, an electric current, and a temperature applied by the second drive module to the drive motor in a manner that varies with the number of phases, and a drive electric current of the second processor.

[0021] In the method, when calculating, by the first and second processors, the charging capacities of the first and second power supply modules, respectively, and the electric power consumed by the electronic steering device, the first and second processors, respectively, may selectively calculate the charging capacities depending on which power supply mode is used by the first and second power supply modules, respectively.

[0022] In the method, when determining, by the first and second processors, whether the power supply conditions are normal or not by comparing the power supply conditions with each other, in a case where the first and second processors compare the power supply conditions with each other and where a difference between output voltages of the first and second power supply modules is outside a preset range, the first and second processors may determine that the power supply conditions are abnormal.

[0023] In the method, when the first and second processors control the first and second drive modules, respectively, by controlling the power of the drive motor, the first and second processors may stop the operation of the reaction motor if the drive motor is a reaction motor.

[0024] In the method, when outputting, by the first and second processors, the speed limit and the error condition, respectively, the first and second processors may calculate the speed limit in real time according to the charge states of the first and second power supply modules, respectively, and according to the electric power consumed by the electronic steering device.

[0025] The electronic steering device for a vehicle according to the aspect of the present disclosure and the method for controlling the electronic steering device according to the aspects of the present disclosure are capable of performing a fault operation by diagnosing a fault in a common part when operated by supplying separate electric power from a battery pack in an electric vehicle equipped with a steer-by-wire (SBW) system. This allows for saving the costs associated with redundant power supplies. Furthermore, the stability of the electronic steering device can be maintained without completely disconnecting the power supply. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a block diagram showing an electronic steering apparatus for a vehicle according to a first embodiment of the present disclosure. Fig. 2 is a block diagram showing a state in which a power supply module is coupled in the electronic steering apparatus for a vehicle according to the first embodiment of the present disclosure. Fig. 3 is a block diagram showing a state in which a power supply module is coupled in an electronic steering apparatus for a vehicle according to a second embodiment of the present disclosure. Fig. 4 is a flowchart used to describe a method of controlling the electronic steering apparatus for a vehicle according to a third embodiment of the present disclosure. DETAILED DESCRIPTION OF THE EMBODIMENTS SHOWN

[0026] The components described in the embodiments may be implemented by hardware components, e.g., by at least one digital signal processor (DSP), a processor, a controller, an application-specific integrated circuit (ASIC), a programmable logic element such as an FPGA, other electronic devices, or combinations thereof. At least some of the functions or processes described in the embodiments may be implemented by software, and the software may be recorded on a recording medium. The components, functions, and processes described in the embodiments may be implemented by a combination of hardware and software.

[0027] The method according to the embodiments may be embodied as a computer-executable program and may be implemented on various recording media such as a magnetic storage medium, an optical reading medium, and a digital storage medium.

[0028] Various techniques described herein may be implemented as digital electronic circuits or as computer hardware, firmware, software, or combinations thereof. The techniques may be implemented as a computer program product, i.e., as a computer program tangibly embodied in an information carrier, e.g., in a machine-readable storage medium (e.g., a computer-readable medium), or in a transmitted signal for processing by a data processing device or for controlling the operation of a data processing device, e.g., a programmable processor, a computer, or multiple computers.A computer program may be written in any form of programming language, including compiled or interpreted languages, and may be deployed in any form, including a stand-alone program or a module, component, subroutine, or other unit suitable for use in a computing environment. A computer program may be designed to run on one computer or on multiple computers at one or more locations, distributed across multiple locations and interconnected by a communications network.

[0029] Processors suitable for executing a computer program include, for example, both general-purpose and special-purpose microprocessors, as well as one or more processors of any type of digital computer. Generally, a processor receives instructions and data from read-only memory or random access memory, or both. Elements of a computer may include at least one processor for executing instructions and one or more memories for storing instructions and data. Generally, a computer also includes, or is coupled to, one or more mass storage devices for storing data, such as magnetic, magneto-optical, or optical disks, for receiving data from, transferring data to, or both. Examples of information carriers suitable for embodying computer program instructions and data include semiconductor memory devices, such asMagnetic media such as a hard disk, a floppy disk, and magnetic tape; optical media such as a compact disk read-only memory (CD-ROM), a digital video disk (DVD), etc.; and magneto-optical media such as a floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, erasable programmable read-only memory (EPROM), and electrically erasable programmable read-only memory (EEPROM), as well as any other known computer-readable medium. A processor and memory may be supplemented by or integrated with dedicated logic circuitry.

[0030] The processor may execute an operating system (OS) and one or more software applications running on the operating system. The processor device may also access, store, manipulate, process, and create data in response to the execution of the software. For simplicity, the description of a processor device will be used in the singular; however, one of ordinary skill in the art will recognize that a processor device may include multiple processing elements and / or multiple types of processing elements. For example, a processor device may include multiple processors or a processor and a controller. Furthermore, various processing configurations are possible, such as parallel processors.

[0031] Non-transferable, computer-readable media can be any available media that can be accessed by a computer and can include both computer storage media and transmission media.

[0032] This description includes details of a number of specific embodiments, but it should be understood that the details do not limit the invention or what may be claimed in the description, but rather describe features of the specific embodiment. Features described in the description in connection with individual embodiments may be implemented in combination in a single embodiment. In contrast, various features described in the description in connection with a single embodiment may be implemented in multiple embodiments individually or in any suitable subcombination.Furthermore, the features may operate in a particular combination and be initially described as a claimed combination, but one or more features may, in some cases, be excluded from the claimed combination, and the claimed combination may be changed into a sub-combination or a variation of a sub-combination.

[0033] Although operations are described in a particular order in the drawings, this should not be understood to mean that the operations must be performed in that order or sequentially to achieve the desired results, or that all operations must be performed. In a particular case, multitasking and parallel processing may be advantageous. Furthermore, it should not be understood that separation of various device components in the embodiments described above is required in all embodiments, and it should be understood that the program components and devices described above may be integrated into a single software product or packaged into multiple software products.

[0034] It is to be understood that the embodiments disclosed herein are for illustrative purposes only and are not intended to limit the scope of the invention. It will be apparent to one skilled in the art that various modifications to the embodiments may be made without departing from the spirit and scope of the claims and their equivalents.

[0035] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that a person skilled in the art can readily practice the present disclosure. However, the present disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0036] In the following description of the embodiments of the present disclosure, a detailed description of known functions and configurations will be omitted if doing so might obscure the subject matter of the present disclosure. Parts not related to the description of the present disclosure in the drawings are omitted, and like parts are denoted by like reference numerals.

[0037] In this disclosure, the individual components are distinguished from one another to clarify their individual features. However, this does not necessarily mean that the components are separate. That is, a plurality of components may be integrated into a single hardware or software unit, or a single component may be distributed across a plurality of hardware or software units. Unless otherwise stated, such integrated or distributed embodiments are also within the scope of this disclosure.

[0038] In the present disclosure, the components described in the various embodiments are not necessarily essential components, and some may be optional components. Accordingly, embodiments consisting of a subset of the components described in an embodiment are also within the scope of the present disclosure. Furthermore, embodiments that include further components in addition to the components described in the various embodiments are also within the scope of the present disclosure.

[0039] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings so that a person skilled in the art can readily practice the present disclosure. However, the present disclosure may be embodied in many different forms and is not limited to the embodiments described herein.

[0040] In the following description of the embodiments of the present disclosure, a detailed description of known functions and configurations will be omitted if doing so might obscure the subject matter of the present disclosure. Parts not related to the description of the present disclosure in the drawings are omitted, and like parts are denoted by like reference numerals.

[0041] Whenever this disclosure refers to a component being "linked," "coupled," or "connected" to another component, this may refer not only to a direct connection relationship, but also to an indirect connection relationship via an intervening component. When a component is referred to as "having" or "with" another component, this may refer to the inclusion of another component, not its exclusion, unless expressly described to the contrary.

[0042] In this disclosure, the terms "first," "second," etc., are used only to distinguish between the individual components and do not limit the order or importance of the components, etc., unless expressly stated otherwise. Thus, throughout this disclosure, a first component in one embodiment may be referred to as a second component in another embodiment, and similarly, a second component in one embodiment may be referred to as a first component.

[0043] In the present disclosure, the individual components are distinguished from one another to clarify the individual features. However, this does not necessarily mean that the components are separate. That is, a plurality of components may be integrated into a single hardware or software unit, or a single component may be distributed across a plurality of hardware or software units. Unless otherwise stated, such integrated or distributed embodiments are also within the scope of the present disclosure.

[0044] In the present disclosure, the components described in the various embodiments are not necessarily essential components, and some may be optional components. Accordingly, embodiments consisting of a subset of the components described in an embodiment are also within the scope of the present disclosure. Furthermore, embodiments that include further components in addition to the components described in the various embodiments are also within the scope of the present disclosure.

[0045] An electronic steering apparatus for a vehicle and a method of controlling the electronic steering apparatus for a vehicle according to the present disclosure will be described with reference to the accompanying drawings.

[0046] Fig. 1 is a block diagram showing an electronic steering apparatus for a vehicle according to a first embodiment of the present disclosure. Fig. 2 is a block diagram showing a state in which a power supply module is coupled in the electronic steering apparatus for a vehicle according to the first embodiment of the present disclosure. Fig. 3 is a block diagram showing a state in which a power supply module is coupled in an electronic steering apparatus for a vehicle according to a second embodiment of the present disclosure.

[0047] As in Fig. 1, the electronic steering device for a vehicle according to the first embodiment of the present disclosure may include a first power supply module 20, a second power supply module 25, a first drive module 60, a second drive module 65, a first sensor module 30, a second sensor module 35, a first output module 80, a second output module 85, a first memory 40, a second memory 45, a first processor 50, and a second processor 55.

[0048] The first power supply module 20 and the second power supply module 25, as shown in Fig. 2, a first storage battery 24 and a second storage battery 26, respectively, can charge with electrical power of a low-voltage DC-DC conversion module 22, which converts a high voltage of a battery pack 10 into a low voltage, and can thus supply electrical power to both the first processor 50 and the second processor 55 separately.

[0049] In addition, the first power supply module 20, as shown in Fig. 3, the first storage battery 24 can charge with the electrical power of the low-voltage DC-DC conversion module 22, which converts a high voltage of the battery pack 10 into a low voltage, and thus supply electrical power to the first processor 50. Furthermore, the second power supply module 25 can supply the electrical power of the low-voltage DC-DC conversion module 22 to the second processor 55.

[0050] Here, it is preferable that either the first power supply module 20 or the second power supply module 25 supplies electrical power via the first storage battery 24 or the second storage battery 26. In the event of a fault in a common part of a power system through which electrical power is supplied from the battery pack 10 to the low-voltage DC-DC conversion module 22, the supply of electrical power for the fault operation can be ensured.

[0051] The first drive module 60 and the second drive module 65 can be supplied with electrical power by the first power supply module 20 and the second power supply module 25, respectively, and thus drive a drive motor 70.

[0052] The drive motor 70 can be configured here as a double-winding motor that is driven by both the first drive module 60 and the second drive module 65.

[0053] In addition, the drive motor 70, as shown in Fig. 2 and Fig. 3, a reaction motor 72 that provides a steering feel when a steering wheel is turned, and a steering motor 74 that steers a vehicle wheel.

[0054] The first sensor module 30 can detect a state of the first power supply module 20 and a state of the first drive module 60. The second sensor module 35 can detect a state of the second power supply module 25 and a state of the second drive module 65.

[0055] The first sensor module 30 can detect one or more of the following states: a state of the first power supply module 20 indicative of a capacitance, an output voltage, and a temperature; a state of the first drive module 60 indicative of an output voltage, an output electrical current, and a temperature applied by the first drive module 60 to the drive motor 70 in a manner that varies with the number of phases; and a state of the first processor 50 indicative of the drive electrical current.The second sensor module 35 can detect one or more of the following conditions: a condition of the second power supply module 25 indicative of a capacitance, an output voltage, and a temperature; a condition of the second drive module 65 indicative of an output voltage, an output electrical current, and a temperature applied by the second drive module 65 to the drive motor 70 in a manner that varies with the number of phases; and a condition of the second processor 55 indicative of the drive electrical current.

[0056] The first output module 80 and the second output module 85 can be coupled to a vehicle control device 90 and transmit a speed limit and a fault condition. Thus, a vehicle can execute a speed reduction control according to the speed limit and illuminate a warning light and issue a warning message according to the fault condition.

[0057] Data associated with an application program for operating the electronic steering device can be stored in both the first memory 40 and the second memory 45. The information to be stored can be selected independently by the first processor 50 and the second processor 55 as needed.

[0058] Various types of data generated during the execution of an operating system or an application (a program or an applet) for operating the electronic steering device are stored in the first memory 40 and the second memory 45. Here, the first memory 40 and the second memory 45 collectively refer to non-volatile memory devices that can store information without being supplied with electrical power, and volatile memory devices that require electrical power to store information. Furthermore, the first memory 40 and the second memory 45 can perform the function of temporarily or permanently storing data processed by the first processor 50 and the second processor 55.

[0059] Examples of the first memory 40 and the second memory 45 may be a magnetic storage medium and a flash storage medium, as well as a volatile storage device that requires electrical power to store information, but the scope of the present disclosure is not limited thereto.

[0060] The first processor 50 may be operatively connected to the first drive module 60, the first sensor module 30, the first output module 80, and the first memory 40, and the second processor 55 may be operatively connected to the second drive module 65, the second sensor module 35, the second output module 85, and the second memory 45. The first processor 50 and the second processor 55 may be implemented as an integrated circuit or as a system configured to control the overall operation of the electronic steering device.

[0061] The first processor 50 and the second processor 55 can execute application programs stored in the first memory 40 and the second memory 45, respectively, and can receive the detection results from the first sensor module 30 and the second sensor module 35, respectively. Then, the first processor 50 and the second processor 55 can calculate the charging capacities of the first power supply module 20 and the second power supply module 25, respectively, and the electric power consumed by the electronic steering device. Then, the first processor 50 and the second processor 55 can determine whether the power supply conditions are normal by comparing the power supply conditions with each other and can then perform the error operation.

[0062] When the first processor 50 and the second processor 55 compare the power supply conditions with each other and a difference between the output voltages of the first power supply module 20 and the second power supply module 25 is outside a preset range, the first processor 50 and the second processor 55 may determine that the power supply conditions are abnormal.

[0063] If, as in Fig. 3, when electric power is supplied from the low-voltage DC-DC conversion module 22 through the second power supply module 25, at this time, the first processor 50 and the second processor 55 cannot calculate a charging capacity of the second power supply module 25. However, by comparing the output voltage of the second power supply module 25 and the output voltage of the first power supply module 20, the first processor 50 and the second processor 55 can determine whether the output voltages are equal to or lower than a preset voltage, or whether the difference between them is equal to or greater than a preset voltage. Thus, the first processor 50 and the second processor 55 can determine whether the power supply conditions are normal or not.

[0064] If, as in Fig. 2, when electric power is supplied from the first power supply module 20 and the second power supply module 25 through the first storage battery 24 and the second storage battery 26, respectively, the first processor 50 and the second processor 55 can calculate a charging capacity of the first power supply module 20 and the charging capacity of the second power supply module 25, respectively. Then, the first processor 50 and the second processor 55 can determine, through comparison, whether the output voltages of the first power supply module 20 and the second power supply module 25 are equal to or lower than a preset voltage. As a result, the first processor 50 and the second processor 55 can determine whether the power supply conditions are normal or not.

[0065] The electric power consumed by the electronic steering device can be calculated based on the drive current for the first processor 50 and the second processor 55 themselves and based on the voltage and electric current applied to the drive motor 70 via the first drive module 60 and the second drive module 65 in a manner that varies with the number of phases.

[0066] In this way, when the first processor 50 and the second processor 55 determine whether the power supply conditions are normal or not and then determine that the power supply conditions are abnormal, they can control the first drive module 60 and the second drive module 65, respectively, for fault operation by limiting the power of the drive motor 70.

[0067] That is, in order to reduce the consumption of electric power, the first processor 50 and the second processor 55 may reduce an operating speed of the drive motor 70 by limiting the current applied to the drive motor 70 and also stop the operation of the reaction motor 72.

[0068] Furthermore, the first processor 50 and the second processor 55 can calculate a speed limit of the vehicle in real time based on the charging capacity of the first power supply module 20 and the charging capacity of the second power supply module 25, respectively, and the consumed electric power, and thus output the calculated speed limit to the vehicle control device 90 via the first output module 80 and the second output module 85, respectively. Accordingly, the vehicle may come to a stop in a state where the electronic steering device cannot function.

[0069] As in Fig. As shown in Figure 3, the second processor 55, which is to be directly supplied with electrical power from the low-voltage DC-DC converter module 22 via the second power supply module 25, cannot be supplied with electrical power due to a fault in the common part of the power system. Therefore, the fault operation can be performed by the first processor 50.

[0070] Furthermore, the first processor 50 and the second processor 55 can output the fault condition via the first output module 80 and the second output module 85, respectively, and the vehicle control device 90 can illuminate a warning light and issue a warning message. This allows a driver to detect a fault condition of the electronic steering device and stop the vehicle.

[0071] As described above, in an electric vehicle equipped with a steer-by-wire (SBW) system and driven by supplying separate electric power from a battery pack, the electronic steering device for a vehicle according to the first or second embodiment of the present disclosure can perform the fault operation by diagnosing a fault in the common part of the power system. Thus, the cost of redundant power supplies can be saved. Furthermore, the stability of the electronic steering device can be maintained without completely disconnecting the electric power.

[0072] Fig. 4 is a flowchart used to describe a method of controlling the electronic steering apparatus for a vehicle according to a third embodiment of the present disclosure.

[0073] As in Fig. 4, in the method of controlling the electronic steering apparatus for a vehicle according to the third embodiment of the present disclosure, the first processor 50 and the second processor 55 receive the results of detection from the first sensor module 30 and the second sensor module 35, respectively (S10).

[0074] The first processor 50 may receive from the first sensor module 30 the result of detecting one or more of the following conditions: the condition of the first power supply module 20, which indicates a capacitance, an output voltage, and a temperature; the condition of the first drive module 60, which indicates an output voltage, an output electrical current, and a temperature applied by the first drive module 60 to the drive motor 70 in a manner that varies with the number of phases; and the condition of the first processor 50, which indicates the drive electrical current.The second processor 55 may receive from the second sensor module 35 the result of detecting one or more of the following conditions: the condition of the second power supply module 25, which indicates a capacitance, an output voltage, and a temperature; the condition of the second drive module 65, which indicates an output voltage, an output electrical current, and a temperature applied by the second drive module 65 to the drive motor 70 in a manner that varies with the number of phases; and the condition of the second processor 50, which indicates the drive electrical current.

[0075] In step S10, the first processor 50 and the second processor 55 receive the detection results from the first sensor module 30 and the second sensor module 35, respectively. Then, the first processor 50 calculates the charging capacity of the first power supply module 20 and the electric power consumed by the electronic steering device from the detection result, and the second processor 55 calculates the charging capacity of the second power supply module 25 and the electric power consumed by the electronic steering device from the detection result (S20).

[0076] The first power supply module 20 and the second power supply module 25, as shown in Fig. As shown in Figure 2, the first storage battery 24 and the second storage battery 26 can be charged with the electrical power of the low-voltage DC-DC conversion module 22, which converts a high voltage of the battery pack 10 into a low voltage. In this way, the respective electrical power of the first storage battery 24 and the second storage battery 26 can be separately supplied to the first processor 50 and the second processor 55, respectively.

[0077] In addition, the first power supply module 20, as shown in Fig. 3, the first storage battery 24 can charge with the electrical power of the low-voltage DC-DC conversion module 22, which converts a high voltage of the battery pack 10 into a low voltage, and thus supply electrical power to the first processor 50. Furthermore, the second power supply module 25 can supply the electrical power of the low-voltage DC-DC conversion module 22 to the second processor 55.

[0078] At this point, it is preferable that either the first power supply module 20 or the second power supply module 25 supplies electrical power via the first storage battery 24 or the second storage battery 26. In the event of a failure in the common part of the power system through which electrical power is supplied from the battery pack 10 to the low-voltage DC-DC conversion module 22, the electrical power for the fault operation can be ensured.

[0079] In this way, the first processor 50 and the second processor 55 can selectively calculate the charging capacities depending on which power supply mode is used by the first power supply module 20 and the second power supply module 25.

[0080] That is, in a case where, as in Fig. 3, the second processor 55 is supplied with electrical power from the low-voltage DC conversion module 22 via the second power supply module 25, the second processor 55 cannot calculate the charging capacity of the second power supply module 25. However, in a case where, as shown in Fig. 2, the first power supply module 20 and the second power supply module 25 supply electrical power via the first storage battery 24 and the second storage battery 26, respectively, the second processor 55 can calculate the charging capacity of the second power supply module 25.

[0081] The electric power consumed by the electronic steering device can be calculated based on the drive current for the first processor 50 and the second processor 55 themselves and based on the voltage and electric current applied to the drive motor 70 via the first drive module 60 and the second drive module 65 in a manner that varies with the number of phases.

[0082] Subsequently, the first processor 50 and the second processor 55 compare the power supply states with each other (S30).

[0083] At this time, the first processor 50 and the second processor 55 can determine whether the output voltages are equal to or lower than the preset voltage or whether the difference between them is equal to or greater than the preset voltage by comparing the output voltage of the first power supply module 20 and the output voltage of the second power supply module 25.

[0084] In step S30, the power supply states may be compared with each other. The first processor 50 and the second processor 55 determine whether the power supply states are normal or not (S40).

[0085] In step S40, the first processor 50 and the second processor 55 determine whether the power supply conditions are normal. If the power supply conditions are normal, the above steps are repeatedly performed, and if the power supply conditions are abnormal, the error operation is performed (S50).

[0086] First, for fault operation, the first processor 50 and the second processor 55 may control the first drive module 60 and the second drive module 65, respectively, by limiting the power of the drive motor 70.

[0087] That is, in order to reduce the consumption of electric power, the first processor 50 and the second processor 55 may reduce the operating speed of the drive motor 70 by limiting the electric power applied to the drive motor 70 and also stop the operation of the reaction motor 72.

[0088] Furthermore, the first processor 50 and the second processor 55 can calculate the speed limit of the vehicle in real time based on the charging capacity of the first power supply module 20 and the charging capacity of the second power supply module 25, respectively, and the consumed electric power, and thus output the calculated speed limit to the vehicle control device 90 via the first output module 80 and the second output module 85, respectively. Accordingly, the vehicle can come to a stop in the state where the electronic steering device cannot operate.

[0089] As in Fig.As shown in Figure 3, the second processor 55, which is to be directly supplied with electrical power from the low-voltage DC-DC converter module 22 via the second power supply module 25, cannot be supplied with electrical power due to the fault in the common part of the power system. Therefore, the fault operation can be performed by the first processor 50.

[0090] Furthermore, the first processor 50 and the second processor 55 can output the fault condition via the first output module 80 and the second output module 85, respectively, and the vehicle control device 90 can illuminate the warning light and output the warning message. This allows the driver to recognize the fault condition of the electronic steering device and stop the vehicle.

[0091] As described above, with the method for controlling the electronic steering device for a vehicle according to the third embodiment of the present disclosure, the electronic steering device for a vehicle in the electric vehicle equipped with the steer-by-wire (SBW) system, when driven by supplying separate electric power from a battery pack, can perform the fault operation by diagnosing a fault in the common part of the power system. In this way, the cost incurred by redundant power supplies can be saved. Furthermore, the stability of the electronic steering device can be maintained without completely disconnecting the power supply.

Claims

[1] Electronic steering device for a vehicle, the electronic steering device comprising: first and second drive modules (60, 65) configured to drive a drive motor (70) by being supplied with electrical power by first and second power supply modules (20, 25), respectively; a first and a second sensor module (30, 35) configured to detect states of the first and second power supply modules (20, 25) and states of the first and second drive modules (60, 65), respectively; a first and a second output module (80, 85) coupled to a vehicle control device; and a first and a second processor (50, 55) operatively coupled to the first and second drive modules (60, 65), the first and second sensor modules (30, 35) and the first and second output modules (80, 85), respectively, characterized bythat the first and second processors (50, 55) receive results of detection from the first and second sensor modules (30, 35), respectively, calculate charging capacities of the first and second power supply modules (20, 25) and electric power consumed by the electronic steering device, and determine whether the power supply states are normal by comparing the power supply states with each other. [2] The electronic steering apparatus according to claim 1, wherein the first and second processors (50, 55) control the first and second drive modules (60, 65), respectively, by controlling a power of the drive motor (70) based on results of determining whether the power supply conditions are normal or not, calculating a speed limit value, and outputting the speed limit value together with an error condition via the first and second output modules (80, 85), respectively. [3] The electronic steering device according to claim 1, wherein the first and second power supply modules (20, 25) each supply the electric power of a low-voltage DC conversion module (22) that converts a high voltage of a battery pack (10) into a low voltage, or charge a first or a second storage battery (24, 26) with the electric power of the low-voltage DC conversion module (22) and thus supply electric power, but each of the first and second power supply modules (20, 25) supplies the electric power via the first or second storage battery (24, 26). [4] The electronic steering apparatus according to claim 1, wherein the drive motor (70) is a reaction motor (72) that provides a steering feel when a steering wheel is turned or a steering motor (74) that steers a vehicle wheel. [5] The electronic steering apparatus according to claim 4, wherein the first and second processors (50, 55) stop the operation of the reaction motor (72) when the power supply conditions are abnormal. [6] The electronic steering device according to claim 1, wherein the first sensor module (30) detects one or more of the following states: a state of the first power supply module (20) indicating a capacitance, an output voltage, and a temperature; a state of the first drive module (60) indicating an output voltage, an output electrical current, and a temperature applied by the first drive module (60) to the drive motor (70) in a manner that varies with the number of phases; and a state of the first processor (50) indicating the drive electrical current; and wherein the second sensor module (35) detects one or more of the following states: a state of the second power supply module (25) indicating a capacitance, an output voltage, and a temperature; a state of the second drive module (65) indicating an output voltage, an output electrical current, and a temperature.which are applied by the second drive module (65) to the drive motor (70) in a manner that varies with the number of phases, and a state of the second processor (55) indicating the electrical drive current. [7] Electronic steering device according to claim 1, wherein the first and second processors (50, 55) calculate a speed limit in real time according to the charge states of the first and second power supply modules (20, 25) respectively and according to the electric power consumed by the electronic steering device. [8] A method for controlling an electronic steering device for a vehicle, the method comprising: Receiving (S10), by a first or second processor (50, 55), results of the detection from a first or second sensor module (30, 35); Calculating (S20), by the first and second processors (50, 55), respectively, charging capacities of a first and second power supply module (20, 25) and electrical power consumed by the electronic steering device from the respective detection results; characterized by Determining, by the first and second processors (50, 55), whether power supply conditions are normal or not by comparing the power supply conditions with each other; and Controlling, by the first and second processors (50, 55), a first and second drive module (60, 65) by controlling a power of a drive motor based on results of determining whether the power supply conditions are normal or not. [9] The method of claim 8, further comprising: Outputting (S50), by the first and second processors (50, 55), respectively, a speed limit value and an error condition via first and second output modules (80, 85) respectively, based on the results of determining whether the power supply conditions are normal or not. [10] A method according to claim 9, wherein upon receiving, by the first and second processors (50, 55), the results of the recognition from the first and second processors, respectively,second sensor module (30, 35), the first processor (50) receives from the first sensor module (30) a capacitance, a voltage, and a temperature of the first power supply module, a voltage, an electric current, and a temperature applied by the first drive module (60) to the drive motor (70) in a manner that varies with the number of phases, and an electric drive current of the first processor (50), and the second processor (55) receives from the second sensor module (35) a capacitance, a voltage, and a temperature of the second power supply module (25), a voltage, an electric current, and a temperature applied by the second drive module (65) to the drive motor (70) in a manner that varies with the number of phases, and an electric drive current of the second processor (55). [11] The method of claim 9, wherein when controlling, by the first and second processors (50, 55), the first and second drive modules (60, 65) by controlling the power of the drive motor (70), the first and second processors (50, 55) stop the operation of the reaction motor (72) when the drive motor (70) is a reaction motor (72). [12] The method of claim 9, wherein when outputting, by the first and second processors (50, 55), respectively, the speed limit and the error condition, the first and second processors (50, 55) calculate the speed limit in real time according to the charge states of the first and second power supply modules (20, 25) respectively and according to the electrical power consumed by the electronic steering device.

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