Torque data robusting apparatus and method

Abstract

The present disclosure relates to an apparatus and method for torque data robustness. Specifically, the torque data robustness apparatus according to the present disclosure includes a sensor unit that detects the speed of a vehicle, a steering angle for a steering wheel, and a steering torque, and a control unit that, when a steering torque value is not received from the sensor unit, generates a processed torque to assist a user's steering based on the steering angle and the speed of the vehicle, determines whether the user's steering is normal steering or return steering based on the steering angle and steering angle velocity, and controls the generation of the processed torque by adjusting it according to whether it is normal steering or return steering.

Description

Technology Field

[0001] The present disclosure relates to a torque data robusting apparatus and method, and more specifically, to a torque data robusting apparatus and method that generates processed torque based on sensors mounted on a vehicle and varies the output for a plurality of processed torques according to the user's steering. Background Technology

[0002] Automotive power steering is a power-driven steering system that assists the driver in operating the steering wheel. While hydraulic systems are predominantly used, the use of Motor Driven Power Steering (hereinafter referred to as MDPS) systems, which utilize motor power, has recently been increasing.

[0003] The MDPS system is a system in which a steering motor is separately installed at the bottom of the steering wheel axle to generate auxiliary steering force; when the vehicle is started, the steering motor operates to engage the power steering. Compared to conventional hydraulic power steering systems, the MDPS system has the advantages of being lighter, occupying less space, and requiring no oil changes.

[0004] The MDPS system facilitates steering by utilizing an auxiliary power source to provide a portion of the steering torque that the driver must apply to the steering wheel during vehicle steering. Specifically, the driver's steering intention is detected via a torque sensor directly connected to the steering wheel. The MDPS system receives this signal and assists steering power by driving a motor to provide appropriate force, taking into account the vehicle's current speed and other factors. The MDPS system reduces the driver's effort by providing a large amount of assistance when parking, stopping, or driving at low speeds, while maintaining vehicle stability by providing only a small amount of assistance during high-speed driving.

[0005] However, the MDPS system has a disadvantage in that it cannot assist the driver with steering force if the torque sensor, which detects the driver's steering intention, does not function properly. To overcome this drawback, a technology has been developed that generates virtual torque to assist the driver's steering in the event of a torque sensor failure.

[0006] However, the generated processing torque acts as an obstacle during reverse steering as the output increases. In addition, when the steering angle does not change, the processing torque remains fixed and does not change at the same vehicle speed, so there was a problem in that the torque required for steering became a heavy burden on the driver. The problem to be solved

[0007] Against this backdrop, the present disclosure aims to provide a torque data robustness apparatus and method that generates processing torque by utilizing sensor information in a state where torque values ​​are not received, and varies the output of the processing torque according to the user's steering. means of solving the problem

[0008] In order to solve the aforementioned problem, in one aspect, the present disclosure provides a torque data robustness device comprising a sensor unit that detects the speed of a vehicle, a steering angle for a steering wheel, and a steering torque, and a control unit that, when a steering torque value is not received from the sensor unit, generates a processed torque to assist a user's steering based on the steering angle and the speed of the vehicle, determines whether the user's steering is normal steering or return steering based on the steering angle and steering angle velocity, and controls the generation of the processed torque by adjusting it according to whether it is normal steering or return steering.

[0009] In another aspect, the present disclosure provides a torque data robustness method comprising: a sensing step for sensing the speed of a vehicle, a steering angle for a steering wheel, and a steering torque; a processing torque generation step for generating a processing torque to assist a user's steering based on the steering angle and the speed of the vehicle when a steering torque value is not received from a sensor unit; a user steering determination step for determining whether the user's steering is normal steering or return steering based on the steering angle and steering angle velocity; and a processing torque adjustment step for controlling the generation of a processing torque by adjusting it according to whether it is normal steering or return steering. Effects of the invention

[0010] According to the present disclosure, a torque data robustness device receives information from a sensor to determine whether the user's steering is normal steering or return steering, and controls the generation of processed torque accordingly, thereby subdividing the processed torque generated according to the steering angle and the speed of the vehicle to minimize the user's required steering force, and can provide a torque data robustness device and method. Brief explanation of the drawing

[0011] FIG. 1 is a drawing illustrating a technology that provides processing torque related to the present disclosure. FIG. 2 is a block diagram of a torque data robustness device according to one embodiment. FIGS. 3 and FIGS. 4 are drawings for explaining the determination of general steering and return steering according to one embodiment. FIG. 5 is a diagram exemplarily showing the output value of the processing torque corresponding to the steering angle according to one embodiment. FIG. 6 is a diagram showing the result of applying a torque data robustness device according to one embodiment. FIG. 7 is a flowchart illustrating a torque data robustness method according to one embodiment of the present disclosure. Specific details for implementing the invention

[0012] Hereinafter, some embodiments of the present disclosure will be described in detail with reference to exemplary drawings. In assigning reference numerals to the components of each drawing, the same components may have the same reference numeral as much as possible, even if they are shown in different drawings. Furthermore, in describing the embodiments, if it is determined that a detailed description of related known components or functions may obscure the essence of the technical concept, such detailed description may be omitted. Where terms such as "comprising," "having," or "consisting of" are used in this specification, other parts may be added unless "only" is used. Where a component is expressed in the singular, it may include a plural unless there is a special explicit description otherwise.

[0013] Additionally, terms such as first, second, A, B, (a), (b), etc., may be used to describe the components of the present disclosure. These terms are used merely to distinguish the components from other components, and the nature, order, sequence, or number of the components are not limited by such terms.

[0014] In describing the positional relationship of components, where it is stated that two or more components are "connected," "combined," or "joined," it should be understood that while the two or more components may be directly "connected," "combined," or "joined," they may also be "connected," "combined," or "joined" with other components "intervened." Here, the other components may be included in one or more of the two or more components that are "connected," "combined," or "joined" with one another.

[0015] In describing the temporal flow relationship regarding components, methods of operation, or methods of production, for example, when the temporal or sequential relationship is described using "after," "following," "next," or "before," it may include cases where the relationship is not continuous unless "immediately" or "directly" is used.

[0016] Meanwhile, where numerical values ​​or corresponding information regarding a component (e.g., levels, etc.) are mentioned, even without separate explicit notation, the numerical values ​​or corresponding information may be interpreted as including a range of error that may occur due to various factors (e.g., process factors, internal or external shocks, noise, etc.).

[0017] Hereinafter, a technology for providing processing torque related to the present disclosure will be described with reference to FIG. 1.

[0018] FIG. 1 is a drawing illustrating a technology that provides processing torque related to the present disclosure.

[0019] Referring to Fig. 1, in a normal state, the steering force appears as a hysteresis curve as shown in Fig. 1a, as the torque sensor detects the steering torque resulting from the user's steering and generates an auxiliary torque. In other words, an auxiliary torque is generated so that steering can be performed with a constant steering force at any steering angle. However, if the torque sensor that serves as the basis for the auxiliary torque fails, the steering force appears as a hysteresis curve as shown in Fig. 1b. In this case, an appropriate auxiliary torque is not generated according to the steering angle, causing the user to experience difficulty in steering.

[0020] To prevent such situations, the processing torque compensation technology related to the present disclosure applies LOAM (Loss of Assist Mitigation), which generates processing torque using the steering angle and vehicle speed when the torque sensor fails and controls it to assist the driver's steering. Figure 1c shows a hysteresis curve with LOAM applied. However, when reversing steering is performed under LOAM control, the processing torque generated by LOAM acts as an obstacle during reversing steering as the output increases. Consequently, the user experiences difficulty steering, which reduces the vehicle's stability. This is because, when the steering angle does not change, the LOAM processing torque remains fixed and does not change at the same vehicle speed. Furthermore, existing mass-produced specifications had a problem where the output was lowered due to the aforementioned issue.

[0021] Hereinafter, a torque data robustness device (10) according to the present disclosure, which can vary the output of processing torque depending on general steering and return steering, will be described.

[0022] FIG. 2 is a block diagram of a torque data hardening device (10) according to one embodiment.

[0023] Referring to FIG. 2, the torque data robustness device (10) may include a sensor unit (210) and a control unit (220), etc.

[0024] The torque data robusting device (10) can detect the speed of the vehicle, the rotation angle of the steering wheel, and the steering torque. Additionally, if the steering torque value is not received, the torque data robusting device (10) can generate a processing torque for maintaining the vehicle's driving based on the steering angle and the speed of the vehicle. Additionally, the torque data robusting device (10) can determine whether the user's steering is normal steering or return steering based on the steering angle velocity and the steering angle, and can adjust the processing torque according to the normal steering or return steering.

[0025] The vehicle may be equipped with a torque data hardening device (10), through which it can receive a control signal for the vehicle.

[0026] Additionally, the torque data robustness device (10) may include sensors capable of detecting the speed of the vehicle, the rotation angle of the steering wheel, and the steering torque.

[0027] The sensor unit (210) can detect the speed of the vehicle, the steering angle of the steering wheel, and the steering torque. Specifically, the sensor unit (210) may include a sensor that detects the speed of the vehicle, a steering angle sensor that detects the rotation angle of the steering wheel, and a torque sensor that detects the steering torque. Each sensor of the sensor unit (210) can be mounted on the vehicle, and information can be obtained regarding the target detected by each sensor. Here, the steering angle sensor can detect the displacement of the steering angle that occurs as the driver steers the steering wheel and transmit it to the control unit (220). Also, the torque sensor can detect the torque resulting from the twisting of the torsion bar and transmit it to the control unit (220).

[0028] If the control unit (220) cannot receive a torque value from the sensor unit (210), it can generate a processing torque to assist the user's steering based on the steering angle and the speed of the vehicle, and determine whether the user's steering is normal steering or return steering based on the steering angle and steering angle velocity, and can generate the processing torque by adjusting it according to whether it is normal steering or return steering. The control unit (220) can receive each sensor information from the sensor unit (210) so as to calculate the processing torque value. The control unit (220) can generate the processing torque and transmit a control signal to the steering motor to provide the processing torque according to the calculated processing torque value.

[0029] According to the above description, the torque data robustness device (10) can control the direction of the vehicle with a smaller steering force during return steering by determining whether the user's steering is general steering or return steering.

[0030] FIGS. 3 and 4 are drawings for explaining the determination of general steering and return steering according to one embodiment.

[0031] Referring to FIG. 3, the control unit (220) can set a steering angle-steering angle velocity domain that can determine whether the steering is return steering or normal steering based on the steering angle value and the steering angle velocity value. The steering angle-steering angle velocity domain can be set into four zones based on the steering angle domain and the steering angle velocity domain. When the steering angle and steering angle velocity values ​​correspond to any one of the four zones, the control unit (220) can determine the steering corresponding to that zone (whether it is return steering or normal steering).

[0032] Accordingly, the control unit (220) can determine that the user's steering is normal steering if the signs of the steering angle and the steering angular velocity are the same. For example, if the steering angle is positive and the steering angular velocity is positive, the user's steering may be normal steering. As another example, if the steering angle is negative and the steering angular velocity is negative, the user's steering may be normal steering.

[0033] The control unit (220) can determine that the user's steering is a return steering if the signs of the steering angle and the steering angular velocity are different. For example, if the steering angle is positive and the steering angular velocity is negative, the user's steering may be a return steering. As another example, if the steering angle is negative and the steering angular velocity is positive, the user's steering may be a return steering.

[0034] According to the above, the torque data robustness device (10) can distinguish between normal steering and return steering by using the signs of the steering angle and steering angle velocity, thereby clarifying the criteria for determining normal steering and return steering.

[0035] FIG. 4 is a diagram exemplarily showing the hysteresis curves for steering angle and steering force of the torque data robustness device (10) according to the present disclosure.

[0036] Referring to FIG. 4, the control unit (220) can determine the user's steering as a return steering when braking in a direction where the steering angle approaches neutral as in FIG. 4 a, b, d, and e, and determine the user's steering as a normal steering when braking in a direction where the steering angle moves away from neutral as in FIG. 4 c and f.

[0037] The control unit (220) can control the output of the processing torque to change in a ramp manner for a predetermined time when it is determined that the user's steering is transitioning from normal steering to return steering, or from return steering to normal steering. Specifically, referring to FIG. 4, the case where the user's steering is transitioning from normal steering to return steering is when reversing steering is performed while the steering angle is biased to one side. In such a case, if there is a difference in the output of the processing torque between normal steering and return steering, the user will experience difficulty in steering. Therefore, the control unit (220) can control the user's steering so that when the user's steering is transitioning from normal steering to return steering, the processing torque value of normal steering does not change immediately to the processing torque value of return steering, but changes gradually over a predetermined time.

[0038] As described above, the torque data robustness device (10) controls the difference in processing torque output between normal steering and return steering to be output in a ramp manner, thereby minimizing the gap in processing torque felt by the user even in a sudden steering situation.

[0039] FIG. 5 is a diagram exemplarily showing the output value of the processing torque corresponding to the steering angle according to one embodiment.

[0040] Referring to FIG. 5, the control unit (220) can control the user's steering so that the processing torque generated when the user is in return steering is smaller than when the user is in normal steering. The control unit (220) can reduce the steering force required for sudden steering by controlling the user to generate a processing torque greater than the processing torque output during normal steering in sudden steering situations, such as when avoiding an obstacle ahead.

[0041] As described above, the torque data robustness device (10) can be controlled to generate processing torque differently depending on general steering and return steering, thereby facilitating driving convenience in the event of sudden steering.

[0042] The control unit (220) can control the generation of a larger processing torque as the steering angle increases in a preset steering angle range. The aforementioned preset steering angle range may be a steering angle range where it is necessary to compensate with processing torque when a sudden steering action by the user occurs.

[0043] As described above, the torque data robustness device (10) can drive more stably when the user makes a sudden steering maneuver by pre-setting the user's sudden steering section.

[0044] FIG. 6 is a diagram showing the result of applying a torque data hardening device (10) according to one embodiment.

[0045] Referring to FIG. 6, by applying the torque data robustness device (10), the steering force-steering angle hysteresis curve can be implemented similarly to FIG. 1a. Accordingly, the user can control the direction with a smaller steering force than before when returning to steering. In addition, as the LOAM processing torque can be used more significantly, the user can control the direction with a smaller steering force than before even under normal steering conditions.

[0046] The torque data robustness device (10) of the present disclosure may be implemented as an Electronic Control Unit (ECU). The Electronic Control Unit may include at least one element among one or more processors, memory, storage, user interface input, and user interface output, and these may communicate with each other via a bus. Additionally, the Electronic Control Unit may also include a network interface for connecting to a network. The processor may be a CPU or a semiconductor device that executes processing instructions stored in memory and / or storage. The memory and storage may include various types of volatile / non-volatile memory media. For example, the memory may include ROM and RAM.

[0047] Hereinafter, a torque data strengthening method using a torque data strengthening device (10) capable of performing all of the above-described disclosures will be described.

[0048] FIG. 7 is a flowchart illustrating a torque data robustness method according to one embodiment of the present disclosure.

[0049] Referring to FIG. 7, the torque data robustness method according to the present disclosure may include a sensing step (S710) for sensing the speed of the vehicle, the steering angle for the steering wheel, and the steering torque; a processing torque generation step (S720) for generating a processing torque to assist the user's steering based on the steering angle and the speed of the vehicle when the steering torque value is not received from the sensor unit; a user steering determination step (S730) for determining whether the user's steering is general steering or return steering based on the steering angle and steering angle velocity; and a processing torque adjustment step (S740) for controlling the generation of a processing torque by adjusting it according to whether it is general steering or return steering.

[0050] The user steering judgment step (S730) can determine the user's steering as normal steering if the signs of the steering angle and the steering angular velocity are the same.

[0051] The user steering judgment step (S730) can determine the user's steering as a return steering if the signs of the steering angle and the steering angle velocity are different.

[0052] The machining torque adjustment step (S740) can control the output of the machining torque to be changed in a ramp manner for a predetermined time when it is determined that the user's steering is switched from normal steering to return steering, or from return steering to normal steering.

[0053] The machining torque adjustment step (S740) can control to generate a larger machining torque as the steering angle increases in a preset steering angle range.

[0054] The machining torque adjustment step (S740) can control the machining torque generated when the user's steering is return steering to be smaller than when the user's steering is normal steering.

[0055] As described above, according to the present disclosure, a torque data robusting device (10) receives information from a sensor and controls the user's steering to be classified into general steering and return steering and to generate a processed torque accordingly, thereby subdividing the processed torque generated according to the steering angle and the speed of the vehicle to minimize the user's required steering force, thereby providing a torque data robusting device and method.

[0056] The technology providing such a torque data robustness device and method can be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The aforementioned computer-readable recording medium may include program instructions, data files, data structures, etc., either individually or in combination.

[0057] The program instructions recorded on the aforementioned computer-readable recording medium are those specifically designed and configured for the present invention, but may also be those known and available to those skilled in the art of computer software.

[0058] Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, and flash memory.

[0059] The foregoing description is merely an illustrative explanation of the technical concept of the present disclosure, and those skilled in the art to which the present disclosure pertains may make various modifications and variations within the scope of the essential characteristics of the technical concept. Furthermore, since these embodiments are intended to explain, not limit, the scope of the technical concept is not limited by these embodiments. The scope of protection of the present disclosure shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of the present disclosure. Explanation of the symbols

[0061] 10: Torque data robustness device 210: Sensor unit 220: Control unit

Claims

Claim 1 A torque data robustness device comprising: a sensor unit for detecting the speed of a vehicle, a steering angle for a steering wheel, and a steering torque; and a control unit for generating a processed torque to assist a user's steering based on the steering angle and the speed of the vehicle when a steering torque value is not received from the sensor unit, wherein the control unit determines whether the user's steering is general steering or return steering based on the steering angle and steering angle velocity, and controls the generation of the processed torque by adjusting it according to whether it is general steering or return steering. Claim 2 In claim 1, the control unit is a torque data robustness device that determines the user's steering as normal steering if the signs of the steering angle and the steering angle velocity are the same. Claim 3 In claim 1, the control unit is a torque data robusting device that determines the user's steering as a return steering if the signs of the steering angle and the steering angle velocity are different. Claim 4 A torque data robusting device according to claim 1, wherein the control unit controls the output of the processing torque to be changed in a ramp manner for a predetermined time when it is determined that the user's steering is switched from normal steering to return steering or from return steering to normal steering. Claim 5 In claim 1, the control unit is a torque data robusting device that controls to generate a larger processing torque as the steering angle increases in a preset steering angle range. Claim 6 In claim 1, the control unit is a torque data robusting device that controls the user's steering to generate a smaller processing torque when the user's steering is return steering than when the user's steering is general steering. Claim 7 A method for torque data robustness comprising: a sensing step for detecting the speed of a self-vehicle, a steering angle for a steering wheel, and a steering torque; a processing torque generation step for generating a processing torque to assist a user's steering based on the steering angle and the speed of the self-vehicle when a steering torque value is not received from a sensor; a user steering determination step for determining whether the user's steering is normal steering or return steering based on the steering angle and steering angle velocity; and a processing torque adjustment step for controlling the generation of a processing torque by adjusting it according to whether it is normal steering or return steering. Claim 8 In claim 7, the user steering judgment step is a torque data robustness method that determines the user's steering as general steering if the signs of the steering angle and the steering angle velocity are the same. Claim 9 In claim 7, the user steering judgment step is a torque data robustness method that determines the user's steering as return steering if the signs of the steering angle and the steering angle velocity are different. Claim 10 In claim 7, the above processing torque adjustment step is a torque data robustness method that controls the output of the processing torque to be changed in a ramp manner for a predetermined time when it is determined that the user's steering is switched from general steering to return steering or from return steering to general steering. Claim 11 In claim 7, the above processing torque adjustment step is a torque data robustness method that controls to generate a larger processing torque as the steering angle increases in a preset steering angle range. Claim 12 In claim 7, the processing torque adjustment step is a torque data robustness method that controls the processing torque generated when the user's steering is return steering to be smaller than when the user's steering is general steering.

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