Steering device of vehicle and method for controlling steering device of vehicle

Abstract

A steering device of a vehicle and a method for controlling same are disclosed. A steering device of a vehicle, according to an embodiment of the present invention, comprises: a communication unit that receives sensing data related to driving of a vehicle; a steering module including a disk in which magnetorheological fluid is embedded; and a control unit communicatively connected to the communication unit and the steering module. The control unit may recognize a driving situation of the vehicle on the basis of the received sensing data, and control a current applied to the disk such that a rotation torque value of the steering module changes on the basis of a driving state related to the recognized driving situation. Accordingly, a user experience is provided in which the feel of operation of the steering wheel changes depending on the driving situation of the vehicle.

Description

Steering device of a vehicle and method for controlling the steering device of a vehicle

[0001] The present invention relates to a steering device for a vehicle and a method for controlling the steering device for a vehicle, and more specifically, to a steering device for a vehicle to which magnetorheological fluid technology is applied and a method for controlling the same.

[0002] A vehicle is a device that allows the user to move in the desired direction. A representative example is an automobile.

[0003] Meanwhile, various sensors and electronic devices are being installed in vehicles to enhance the convenience of users. In particular, research is actively being conducted on Advanced Driver Assistance Systems (ADAS) to enhance user convenience.

[0004] Through various sensors, electronic devices, and ADAS, it has become easier and more precise to detect dangerous situations while driving. However, drivers often fail to respond appropriately to dangerous situations due to inexperience, often resulting from poor steering skills.

[0005] Accordingly, U.S. Patent Publication No. US 2023-0001989 (hereinafter referred to as "Prior Art 1") discloses a technology that combines a motor with a vehicle's steering wheel to provide tactile sensations, such as vibration alarms. However, this method has limitations in providing drivers with a more intuitive and diverse tactile experience when linked to various driving situations.

[0006] The present invention aims to solve the above-mentioned problems and other problems.

[0007] According to some embodiments of the present invention, the purpose is to provide a steering device of a vehicle and a control method of the steering device of the vehicle that can provide a more intuitive steering operation feel to a driver by recognizing various driving situations of the vehicle.

[0008] In addition, according to some embodiments of the present invention, another purpose is to provide a steering device of a vehicle and a control method of the steering device of a vehicle, which provide an intuitive cognitive experience to a driver by providing different steering wheel operation sensations according to the driving state according to the driver's steering wheel operation in a driving situation recognized through internal and external sensors of the vehicle and network data.

[0009] In addition, according to some embodiments of the present invention, another purpose is to provide a steering device of a vehicle and a control method of the steering device of the vehicle, which can generate various rotational torque changes appropriate to the situation by changing the current applied to the magneto-rheological fluid in the disc coupled to the steering device of the vehicle into various values, patterns, etc. according to the driving situation and feedback operation.

[0010] To this end, a vehicle steering device according to an embodiment of the present invention utilizes magnetorheological fluid technology to provide a steering feel appropriately altered to suit the driving situation. To achieve this, the vehicle's driving situation is recognized, and the current applied to a disc containing a magnetorheological fluid coupled to the steering wheel is controlled to suit the recognized driving situation.

[0011] Specifically, a steering device of a vehicle according to an embodiment of the present invention comprises: a communication unit that receives sensing data related to driving of the vehicle; a steering module that includes a disk having a built-in magnetorheological fluid; and a control unit that is communicatively connected to the communication unit and the steering module, recognizes a driving situation of the vehicle based on the received sensing data, and controls a current applied to the disk so that a rotational torque value of the steering module changes based on a driving state related to the recognized driving situation.

[0012] According to an embodiment, the control unit may detect an operation of the steering module corresponding to the recognized driving situation, and change the current applied to the disk from a first current value to a second current value in response to a change in the driving state of the vehicle from a first state to a second state based on the detected operation.

[0013] According to an embodiment, the communication unit receives rotation information of the steering module detected in the second state, and the control unit can control the size of the second current value differently so that the degree of change in the rotation torque value of the steering module varies based on the received rotation information.

[0014] According to an embodiment, the rotation information includes rotation angle information of the steering module, and the control unit can stepwise change the size of the second current value applied to the disk according to the rotation angle information detected in the second state.

[0015] According to an embodiment, the disk includes a rotating coil connected to the magnetorheological fluid, and the control unit can control the disk to apply a plurality of different current values ​​according to a driving state related to the recognized driving situation, and to generate different magnetic fields in the rotating coil according to the plurality of current values, so that different rotational resistance values ​​are generated.

[0016] According to an embodiment, the different rotational resistance values ​​increase as the current value applied to the disk increases, and the control unit can feedback-adjust the current value applied to the disk based on a change in the driving situation of the vehicle recognized based on the rotation amount of the disk and the received sensing data.

[0017] According to an embodiment, the control unit may adjust the control pattern of the current applied to the disk differently depending on the recognized driving situation.

[0018] According to an embodiment, the control unit may control the current value to a second value based on the reception of sensing data according to the operation of the steering module that matches the recognized driving situation, and control the current value to the first value based on the reception of sensing data according to the operation of the steering module that deviates from the recognized driving situation, thereby changing the rotational torque value of the steering module.

[0019] According to an embodiment, the control unit may recognize a change in speed of the vehicle based on the sensing data, and control a current applied to the disk so that a rotational torque value of the steering module changes based on the recognized change in speed.

[0020] According to an embodiment, the control unit may determine the position of the vehicle within the driving lane based on the sensing data, and increase the current applied to the disk so that the rotational torque value of the steering module increases in response to a first situation in which the steering angle of the vehicle occurs in a direction approaching the driving lane based on the determined position of the vehicle.

[0021] According to an embodiment, the control unit may reduce the current applied to the disk so that the rotational torque value of the steering module decreases in response to a second situation in which the rotational torque value of the steering module increases and the steering angle of the vehicle moves away from the driving lane.

[0022] According to an embodiment, the control unit may determine the position of the vehicle within the driving lane based on the sensing data, recognize the presence of a moving object on the side of the vehicle based on the determined position, and increase the current applied to the disk so that the rotational torque value of the steering module increases in a direction approaching the recognized moving object.

[0023] In addition, according to a control method of a steering device of a vehicle according to an embodiment of the present invention, the method comprises the steps of: receiving sensing data related to driving of the vehicle while the vehicle is driving; recognizing a driving situation of the vehicle based on the received sensing data and determining a driving state related to the recognized driving situation; and, based on the determined driving state, controlling a current applied to a disk including a magnetorheological fluid built into the disk so that a rotational torque value of the steering module changes.

[0024] The effects of the steering device of a vehicle and the control method of the steering device of a vehicle according to the present invention are described as follows.

[0025] According to at least some embodiments of the present invention, the steering wheel control system allows the driver to intuitively recognize dangerous situations or require careful driving by providing a steering wheel control feel that varies based on various data collected while the vehicle is in motion and the perceived driving situation and driving condition of the vehicle. For example, when the vehicle is traveling at high speeds, the steering wheel provides a sense of increased rotational resistance, allowing the driver to more intuitively perceive high-speed driving conditions and drive cautiously.

[0026] Furthermore, at least some embodiments of the present invention provide a variety of steering wheel control variations that reflect various driving situations, allowing drivers to experience a more customized steering experience. For example, the driver can receive different steering wheel control sensations depending on whether the driver is approaching or moving away from a dangerous situation. Furthermore, by varying the intensity or pattern of tactile signals depending on the type and degree of approach to a dangerous situation, a richer, more intuitive experience can be provided.

[0027] FIG. 1 is a drawing illustrating an example of a vehicle related to an embodiment of the present invention.

[0028] FIG. 2 is a drawing of a vehicle related to an embodiment of the present invention viewed from various angles.

[0029] FIGS. 3 and 4 are drawings showing the interior of a vehicle related to an embodiment of the present invention.

[0030] FIG. 5 and FIG. 6 are drawings for reference in explaining various objects related to driving of a vehicle related to an embodiment of the present invention.

[0031] Figure 7 is a block diagram for explaining a steering device of a vehicle related to the present invention.

[0032] Fig. 8 is an exemplary diagram of a vehicle having a built-in steering device of the vehicle related to the present invention.

[0033] Figure 9 is a block diagram for explaining the detailed configuration of a steering device of a vehicle related to the present invention.

[0034] Figure 10 is a representative flowchart for explaining a control method of a steering device of a vehicle related to the present invention.

[0035] FIGS. 11a and 11b are drawings for explaining structural features and control features of the steering device related to FIG. 10, respectively.

[0036] Figure 12 is a graph showing changes in steering torque according to current control in a steering device related to the present invention.

[0037] Fig. 13 is a flowchart for explaining another control method of a steering device of a vehicle related to the present invention.

[0038] Figures 14a and 14b are drawings for explaining control of a steering device according to detection of a vehicle's driving speed.

[0039] Figures 15a and 15b are drawings for explaining control of a steering device related to maintaining a driving lane of a vehicle.

[0040] Figures 16a and 16b are drawings for explaining a control method of a steering device related to BSD (Blind Spot Detection) response of a vehicle.

[0041] FIGS. 1 and 2 are views showing the exterior of a vehicle related to an embodiment of the present invention, and FIGS. 3 and 4 are views showing the interior of a vehicle related to an embodiment of the present invention.

[0042] FIGS. 5 and 6 are drawings illustrating various objects related to driving of a vehicle according to an embodiment of the present invention.

[0043] Fig. 7 is a block diagram used for reference in explaining a vehicle related to an embodiment of the present invention. Fig. 7 is a block diagram used for reference in explaining a vehicle according to an embodiment of the present invention.

[0044] Referring to FIGS. 1 to 7, the vehicle (100) may include wheels that rotate by a power source and a steering input device (510) for controlling the direction of travel of the vehicle (100).

[0045] A steering input device (510) may constitute a part of a steering device according to the present invention. Specifically, a steering device according to the present invention may be implemented by combining the steering input device (510) with a disk having a built-in magnetorheological fluid, a communication module for receiving various sensing data related to vehicle driving and a network, and a control unit for generating and transmitting a signal for controlling a current to be applied to the disk based on various data.

[0046] The vehicle (100) may be an autonomous vehicle. The vehicle (100) may be switched between an autonomous driving mode and a manual driving mode based on user input. For example, the vehicle (100) may be switched from a manual mode to an autonomous driving mode, or from an autonomous driving mode to a manual mode, based on user input received through a user interface device (hereinafter, referred to as a "user terminal") (200).

[0047] The vehicle (100) can be switched to autonomous driving mode or manual driving mode based on driving situation information. The driving situation information can be generated based on object information provided by the object detection device (300). For example, the vehicle (100) can be switched from manual mode to autonomous driving mode or from autonomous driving mode to manual mode based on the driving situation information generated by the object detection device (300). For example, the vehicle (100) can be switched from manual mode to autonomous driving mode or from autonomous driving mode to manual mode based on driving situation information received through the communication device (400).

[0048] The vehicle (100) can be switched from manual mode to autonomous driving mode or from autonomous driving mode to manual mode based on information, data, and signals provided from an external device.

[0049] When the vehicle (100) is operated in autonomous driving mode, the autonomous vehicle (100) may be operated based on the driving system (700). For example, the autonomous vehicle (100) may be operated based on information, data, or signals generated from the driving system (710), the exit system (740), and the parking system (750).

[0050] When the vehicle (100) is driven in manual mode, the autonomous vehicle (100) can receive user input for driving through the driving control device (500). Based on the user input received through the driving control device (500), the vehicle (100) can be driven.

[0051] The overall length refers to the length from the front to the rear of the vehicle (100), the overall width refers to the width of the vehicle (100), and the overall height refers to the length from the bottom of the wheel to the roof. In the following description, the overall length direction (L) may refer to the direction that serves as a reference for measuring the overall length of the vehicle (100), the overall width direction (W) may refer to the direction that serves as a reference for measuring the overall width of the vehicle (100), and the overall height direction (H) may refer to the direction that serves as a reference for measuring the overall height of the vehicle (100).

[0052] As illustrated in FIG. 7, the vehicle (100) may include a user interface device (hereinafter, referred to as a 'user terminal') (200), an object detection device (300), a communication device (400), a driving operation device (500), a vehicle driving device (600), a driving system (700), a navigation system (770), a sensing unit (120), a vehicle interface unit (130), a memory (140), a control unit (170), and a power supply unit (190).

[0053] Depending on the embodiment, the vehicle (100) may include other components in addition to the components described herein, or may not include some of the components described herein.

[0054] The user interface device (200) is a device for communication between a vehicle (100) and a user. The user interface device (200) can receive user input and provide information generated in the vehicle (100) to the user. The vehicle (100) can implement a UI (User Interfaces) or UX (User Experience) through the user interface device (hereinafter, referred to as a 'user terminal') (200).

[0055] The user interface device (200) may include an input unit (210), an internal camera (220), a biometric detection unit (230), an output unit (250), and a processor (270). Depending on the embodiment, the user interface device (200) may include other components in addition to the described components, or may not include some of the described components.

[0056] The input unit (210) is for receiving information from a user, and data collected from the input unit (210) can be analyzed by a processor (270) and processed into a user's control command.

[0057] The input unit (210) may be placed inside the vehicle. For example, the input unit (210) may be placed in an area of ​​a steering wheel, an area of ​​an instrument panel, an area of ​​a seat, an area of ​​each pillar, an area of ​​a door, an area of ​​a center console, an area of ​​a head lining, an area of ​​a sun visor, an area of ​​a windshield, or an area of ​​a window.

[0058] The input unit (210) may include a voice input unit (211), a gesture input unit (212), a touch input unit (213), and a mechanical input unit (214).

[0059] The voice input unit (211) can convert a user's voice input into an electrical signal. The converted electrical signal can be provided to a processor (270) or a control unit (170). The voice input unit (211) can include one or more microphones.

[0060] The gesture input unit (212) can convert a user's gesture input into an electrical signal. The converted electrical signal can be provided to a processor (270) or a control unit (170).

[0061] The gesture input unit (212) may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input. According to an embodiment, the gesture input unit (212) may detect a user's three-dimensional gesture input. To this end, the gesture input unit (212) may include a light output unit that outputs a plurality of infrared lights or a plurality of image sensors.

[0062] The gesture input unit (212) can detect a user's 3D gesture input through a TOF (Time of Flight) method, a structured light method, or a disparity method.

[0063] The touch input unit (213) can convert a user's touch input into an electrical signal. The converted electrical signal can be provided to a processor (270) or a control unit (170).

[0064] The touch input unit (213) may include a touch sensor for detecting a user's touch input. In some embodiments, the touch input unit (213) may be formed integrally with the display unit (251), thereby implementing a touch screen. Such a touch screen may provide both an input interface and an output interface between the vehicle (100) and the user.

[0065] The mechanical input unit (214) may include at least one of a button, a dome switch, a jog wheel, and a jog switch. An electrical signal generated by the mechanical input unit (214) may be provided to a processor (270) or a control unit (170). The mechanical input unit (214) may be placed on a steering wheel, a center fascia, a center console, a cockpit module, a door, etc.

[0066] The internal camera (220) can capture images of the vehicle interior. The processor (270) can detect the user's status based on the images of the vehicle interior. The processor (270) can obtain information about the user's gaze from the images of the vehicle interior. The processor (270) can detect the user's gestures from the images of the vehicle interior.

[0067] The biometric detection unit (230) can obtain the user's biometric information. The biometric detection unit (230) includes a sensor capable of obtaining the user's biometric information, and can use the sensor to obtain the user's fingerprint information, heartbeat information, etc. The biometric information can be used for user authentication.

[0068] The output unit (250) is for generating output related to visual, auditory, or tactile sensations. The output unit (250) may include at least one of a display unit (251), an audio output unit (252), and a haptic output unit (253).

[0069] The display unit (251) can display graphic objects corresponding to various pieces of information. The display unit (251) can include at least one of a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a 3D display, and an e-ink display.

[0070] The display unit (251) can implement a touch screen by forming a mutual layer structure with the touch input unit (213) or forming it as an integral part.

[0071] The display unit (251) may be implemented as a HUD (Head Up Display). When the display unit (251) is implemented as a HUD, the display unit (251) may be equipped with a projection module to output information through an image projected onto a windshield or window.

[0072] The display unit (251) may include a transparent display. The transparent display may be attached to a windshield or a window. The transparent display may have a predetermined transparency and display a predetermined screen. In order to have transparency, the transparent display may include at least one of a transparent TFEL (Thin Film Electroluminescent), a transparent OLED (Organic Light-Emitting Diode), a transparent LCD (Liquid Crystal Display), a transparent display, and a transparent LED (Light Emitting Diode) display. The transparency of the transparent display may be adjusted.

[0073] Meanwhile, the user interface device (200) may include a plurality of display units (251a to 251g).

[0074] The display unit (251) may be arranged in one area of ​​the steering wheel, one area of ​​the instrument panel (521a, 251b, 251e), one area of ​​the seat (251d), one area of ​​each pillar (251f), one area of ​​the door (251g), one area of ​​the center console, one area of ​​the head lining, one area of ​​the sun visor, or may be implemented in one area of ​​the windshield (251c), one area of ​​the window (251h).

[0075] The audio output unit (252) converts an electric signal provided from the processor (270) or the control unit (170) into an audio signal and outputs the converted signal. To this end, the audio output unit (252) may include one or more speakers.

[0076] The haptic output unit (253) generates a tactile output. For example, the haptic output unit (253) can operate by vibrating a steering wheel, a seat belt, or a seat (110FL, 110FR, 110RL, 110RR) so that the user can perceive the output.

[0077] The processor (hereinafter, referred to as a “control unit”) (270) can control the overall operation of each unit of the user interface device (200). Depending on the embodiment, the user interface device (200) may include a plurality of processors (270) or may not include a processor (270).

[0078] If the user interface device (200) does not include a processor (270), the user interface device (200) may be operated under the control of a processor or control unit (170) of another device in the vehicle (100).

[0079] Meanwhile, the user interface device (200) may be referred to as a vehicle display device. The user interface device (200) may be operated under the control of the control unit (170).

[0080] The object detection device (300) is a device for detecting an object located outside a vehicle (100). The object may be various objects related to the operation of the vehicle (100). Referring to FIGS. 5 and 6, the object (O) may include a lane (OB10), another vehicle (OB11), a pedestrian (OB12), a two-wheeled vehicle (OB13), a traffic signal (OB14, OB15), a light, a road, a structure, a speed bump, a terrain, an animal, etc.

[0081] A lane (OB10) may be a driving lane, a lane adjacent to a driving lane, or a lane in which opposing vehicles drive. A lane (OB10) may be a concept that includes lines on the left and right sides that form a lane.

[0082] Another vehicle (OB11) may be a vehicle driving around the vehicle (100). The other vehicle may be a vehicle located within a predetermined distance from the vehicle (100). For example, the other vehicle (OB11) may be a vehicle preceding or following the vehicle (100).

[0083] A pedestrian (OB12) may be a person located around a vehicle (100). A pedestrian (OB12) may be a person located within a predetermined distance from a vehicle (100). For example, a pedestrian (OB12) may be a person located on a sidewalk or roadway.

[0084] A two-wheeled vehicle (OB12) may refer to a vehicle that is positioned around a vehicle (100) and moves using two wheels. The two-wheeled vehicle (OB12) may be a vehicle with two wheels that is positioned within a predetermined distance from the vehicle (100). For example, the two-wheeled vehicle (OB13) may be a motorcycle or bicycle positioned on a sidewalk or roadway.

[0085] Traffic signals may include traffic lights (OB15), traffic signs (OB14), and patterns or text painted on the road surface.

[0086] The light may be generated from a lamp installed in another vehicle. The light may be generated from a streetlight. The light may be sunlight.

[0087] A road may include slopes such as road surfaces, curves, uphill and downhill slopes, etc.

[0088] Structures may be objects located along roads and fixed to the ground. For example, structures may include streetlights, street trees, buildings, utility poles, traffic lights, and bridges.

[0089] Landforms may include mountains, hills, etc.

[0090] Meanwhile, objects can be classified into moving objects and fixed objects. For example, moving objects may include concepts such as other vehicles and pedestrians. For example, fixed objects may include concepts such as traffic signals, roads, and structures.

[0091] The object detection device (300) may include a camera (310), a radar (320), a lidar (330), an ultrasonic sensor (340), an infrared sensor (350), and a processor (370).

[0092] Depending on the embodiment, the object detection device (300) may include other components in addition to the described components, or may not include some of the described components.

[0093] The camera (310) may be positioned at an appropriate location outside the vehicle to capture images of the vehicle's exterior. The camera (310) may be a mono camera, a stereo camera (310a), an AVM (Around View Monitoring) camera (310b), or a 360-degree camera.

[0094] For example, the camera (310) may be positioned inside the vehicle, close to the front windshield, to capture an image of the front of the vehicle. Alternatively, the camera (310) may be positioned around the front bumper or radiator grill.

[0095] For example, the camera (310) may be positioned inside the vehicle, close to the rear glass, to capture images of the rear of the vehicle. Alternatively, the camera (310) may be positioned around the rear bumper, trunk, or tailgate.

[0096] For example, the camera (310) may be positioned close to at least one of the side windows inside the vehicle to obtain an image of the side of the vehicle. Alternatively, the camera (310) may be positioned around a side mirror, fender, or door.

[0097] The camera (310) can provide the acquired image to the processor (370).

[0098] The radar (320) may include an electromagnetic wave transmitter and receiver. The radar (320) may be implemented in a pulse radar or continuous wave radar manner based on the principle of radio wave emission. Among continuous wave radar methods, the radar (320) may be implemented in a frequency modulated continuous wave (FMCW) manner or a frequency shift keying (FSK) manner depending on the signal waveform.

[0099] The radar (320) can detect an object using electromagnetic waves, based on a TOF (Time of Flight) method or a phase-shift method, and can detect the location of the detected object, the distance to the detected object, and the relative speed.

[0100] The radar (320) can be placed at an appropriate location outside the vehicle to detect objects located in front, rear, or to the side of the vehicle.

[0101] The lidar (330) may include a laser transmitter and receiver. The lidar (330) may be implemented using a TOF (Time of Flight) method or a phase-shift method.

[0102] The lidar (330) can be implemented as a driven or non-driven type.

[0103] When implemented as a drive type, the lidar (330) is rotated by a motor and can detect objects around the vehicle (100).

[0104] When implemented in a non-driven manner, the lidar (330) can detect an object located within a predetermined range relative to the vehicle (100) through optical steering. The vehicle (100) can include a plurality of non-driven lidars (330).

[0105] Lidar (330) can detect an object based on a time-of-flight (TOF) method or a phase-shift method using laser light as a parameter, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

[0106] The lidar (330) can be placed at an appropriate location outside the vehicle to detect objects located in front, behind, or to the side of the vehicle.

[0107] The ultrasonic sensor (340) may include an ultrasonic transmitter and a receiver. The ultrasonic sensor (340) may detect an object based on ultrasonic waves, and may detect the location of the detected object, the distance from the detected object, and the relative speed.

[0108] The ultrasonic sensor (340) can be placed at an appropriate location outside the vehicle to detect objects located in front, rear, or to the side of the vehicle.

[0109] The infrared sensor (350) may include an infrared transmitter and a receiver. The infrared sensor (340) may detect an object based on infrared light, and may detect the location of the detected object, the distance to the detected object, and the relative speed.

[0110] The infrared sensor (350) can be placed at an appropriate location outside the vehicle to detect objects located in front, rear, or to the side of the vehicle.

[0111] The processor (370) can control the overall operation of each unit of the object detection device (300).

[0112] The processor (370) can detect and track an object based on the acquired image. The processor (370) can perform operations such as calculating the distance to the object and calculating the relative speed with the object through an image processing algorithm.

[0113] The processor (370) can detect and track an object based on the reflected electromagnetic waves that are returned when the transmitted electromagnetic waves are reflected by the object. The processor (370) can perform operations such as calculating the distance to the object and calculating the relative speed with the object based on the electromagnetic waves.

[0114] The processor (370) can detect and track an object based on the reflected laser light that is reflected back by the transmitted laser beam from the object. The processor (370) can perform operations such as calculating the distance to the object and calculating the relative speed with the object based on the laser light.

[0115] The processor (370) can detect and track an object based on the reflected ultrasonic waves that are returned when the transmitted ultrasonic waves are reflected off the object. The processor (370) can perform operations such as calculating the distance to the object and calculating the relative speed with the object based on the ultrasonic waves.

[0116] The processor (370) can detect and track an object based on the reflected infrared light that is reflected back by the transmitted infrared light from the object. The processor (370) can perform operations such as calculating the distance to the object and calculating the relative speed with the object based on the infrared light.

[0117] Depending on the embodiment, the object detection device (300) may include multiple processors (370) or may not include a processor (370). For example, each of the camera (310), radar (320), lidar (330), ultrasonic sensor (340), and infrared sensor (350) may individually include a processor.

[0118] If the object detection device (300) does not include a processor (370), the object detection device (300) can be operated under the control of the processor or control unit (170) of the device in the vehicle (100).

[0119] The object detection device (400) can be operated under the control of the control unit (170).

[0120] The communication device (400) is a device for communicating with an external device. Here, the external device may be another vehicle, a mobile terminal, or a server.

[0121] The communication device (400) may include at least one of a transmitting antenna, a receiving antenna, an RF (Radio Frequency) circuit capable of implementing various communication protocols, and an RF element to perform communication.

[0122] The communication device (400) may include a short-range communication unit (410), a location information unit (420), a V2X communication unit (430), an optical communication unit (440), a broadcast transmission / reception unit (450), and a processor (470).

[0123] Depending on the embodiment, the communication device (400) may include additional components other than the described components, or may not include some of the described components.

[0124] The short-range communication unit (410) is a unit for short-range communication. The short-range communication unit (410) can support short-range communication using at least one of Bluetooth™, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technologies.

[0125] The short-range communication unit (410) can form a short-range wireless communication network (Wireless Area Network) to perform short-range communication between the vehicle (100) and at least one external device.

[0126] The location information unit (420) is a unit for obtaining location information of a vehicle (100). For example, the location information unit (420) may include a GPS (Global Positioning System) module or a DGPS (Differential Global Positioning System) module.

[0127] The V2X communication unit (430) is a unit for performing wireless communication with a server (V2I: Vehicle to Infrastructure), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). The V2X communication unit (430) may include an RF circuit capable of implementing protocols for communication with infrastructure (V2I), communication between vehicles (V2V), and communication with pedestrians (V2P).

[0128] The optical communication unit (440) is a unit for communicating with an external device via light. The optical communication unit (440) may include an optical transmission unit that converts an electrical signal into an optical signal and transmits it to the outside, and an optical reception unit that converts a received optical signal into an electrical signal.

[0129] According to an embodiment, the light transmitting unit may be formed to be integrated with a lamp included in the vehicle (100).

[0130] The broadcast transmitter / receiver (450) is a unit for receiving broadcast signals from an external broadcast management server via a broadcast channel, or transmitting broadcast signals to the broadcast management server. The broadcast channels may include satellite channels and terrestrial channels. The broadcast signals may include TV broadcast signals, radio broadcast signals, and data broadcast signals.

[0131] The processor (470) can control the overall operation of each unit of the communication device (400).

[0132] Depending on the embodiment, the communication device (400) may include a plurality of processors (470) or may not include a processor (470).

[0133] If the communication device (400) does not include a processor (470), the communication device (400) may be operated under the control of a processor or control unit (170) of another device in the vehicle (100).

[0134] Meanwhile, the communication device (400) may implement a vehicle display device together with the user interface device (200). In this case, the vehicle display device may be referred to as a telematics device or an AVN (Audio Video Navigation) device.

[0135] The communication device (400) can be operated under the control of the control unit (170).

[0136] The driving control device (500) is a device that receives user input for driving.

[0137] When in manual mode, the vehicle (100) can be driven based on signals provided by the driving control device (500).

[0138] The driving control device (500) may include a steering input device (510), an acceleration input device (530), and a brake input device (570).

[0139] The steering input device (510) can receive input for the direction of travel of the vehicle (100) from the user. The steering input device (510) is preferably formed in the form of a wheel so that steering input can be provided by rotation. Depending on the embodiment, the steering input device may be formed in the form of a touch screen, a touch pad, or a button.

[0140] The acceleration input device (530) can receive an input from a user for accelerating the vehicle (100). The brake input device (570) can receive an input from a user for decelerating the vehicle (100). The acceleration input device (530) and the brake input device (570) are preferably formed in the form of a pedal. Depending on the embodiment, the acceleration input device or the brake input device may also be formed in the form of a touch screen, a touch pad, or a button.

[0141] The driving operation device (500) can be operated under the control of the control unit (170).

[0142] The vehicle driving device (600) is a device that electrically controls the driving of various devices in the vehicle (100).

[0143] The vehicle driving device (600) may include a power train driving unit (610), a chassis driving unit (620), a door / window driving unit (630), a safety device driving unit (640), a lamp driving unit (650), and an air conditioning driving unit (660).

[0144] Depending on the embodiment, the vehicle drive device (600) may include additional components other than the described components, or may not include some of the described components.

[0145] Meanwhile, the vehicle driving device (600) may include a processor. Each unit of the vehicle driving device (600) may individually include a processor.

[0146] The power train drive unit (610) can control the operation of the power train device.

[0147] The power train drive unit (610) may include a power source drive unit (611) and a transmission drive unit (612).

[0148] The power source driving unit (611) can perform control over the power source of the vehicle (100).

[0149] For example, if a fossil fuel-based engine is the power source, the power source drive unit (610) can perform electronic control of the engine. This can control the engine output torque, etc. The power source drive unit (611) can adjust the engine output torque according to the control of the control unit (170).

[0150] For example, if an electric energy-based motor is the power source, the power source driving unit (610) can perform control over the motor. The power source driving unit (610) can adjust the rotation speed, torque, etc. of the motor according to the control of the control unit (170).

[0151] The transmission drive unit (612) can perform control over the transmission. The transmission drive unit (612) can adjust the state of the transmission. The transmission drive unit (612) can adjust the state of the transmission to forward (D), reverse (R), neutral (N), or parking (P).

[0152] Meanwhile, when the engine is the power source, the transmission drive unit (612) can adjust the gear engagement state in the forward (D) state.

[0153] The chassis drive unit (620) can control the operation of the chassis device. The chassis drive unit (620) can include a steering drive unit (621), a brake drive unit (622), and a suspension drive unit (623).

[0154] The steering drive unit (621) can perform electronic control of the steering apparatus within the vehicle (100). The steering drive unit (621) can change the direction of travel of the vehicle.

[0155] The brake drive unit (622) can perform electronic control of the brake apparatus within the vehicle (100). For example, the speed of the vehicle (100) can be reduced by controlling the operation of the brakes placed on the wheels.

[0156] Meanwhile, the brake driving unit (622) can individually control each of the plurality of brakes. The brake driving unit (622) can control the braking force applied to the plurality of wheels differently.

[0157] The suspension drive unit (623) can perform electronic control of the suspension apparatus within the vehicle (100). For example, when there is a curve in the road surface, the suspension drive unit (623) can control the suspension apparatus to reduce vibration of the vehicle (100). Meanwhile, the suspension drive unit (623) can individually control each of the plurality of suspensions.

[0158] The door / window actuator (630) can perform electronic control of a door apparatus or window apparatus in a vehicle (100).

[0159] The door / window driving unit (630) may include a door driving unit (631) and a window driving unit (632).

[0160] The door driving unit (631) can control the door device. The door driving unit (631) can control the opening and closing of a plurality of doors included in the vehicle (100). The door driving unit (631) can control the opening or closing of a trunk or tail gate. The door driving unit (631) can control the opening or closing of a sunroof.

[0161] The window driving unit (632) can perform electronic control of a window apparatus. It can control the opening or closing of a plurality of windows included in a vehicle (100).

[0162] The safety device driving unit (640) can perform electronic control of various safety devices in the vehicle (100).

[0163] The safety device drive unit (640) may include an airbag drive unit (641), a seat belt drive unit (642), and a pedestrian protection device drive unit (643).

[0164] The airbag driving unit (641) can perform electronic control of the airbag apparatus within the vehicle (100). For example, the airbag driving unit (641) can control the airbag to deploy when a danger is detected.

[0165] The seat belt drive unit (642) can perform electronic control of the seat belt apparatus within the vehicle (100). For example, the seat belt drive unit (642) can control the passenger to be secured to the seat (110FL, 110FR, 110RL, 110RR) using the seat belt when a danger is detected.

[0166] The pedestrian protection device drive unit (643) can perform electronic control of the hood lift and pedestrian airbag. For example, the pedestrian protection device drive unit (643) can control the hood lift up and the pedestrian airbag to deploy when a collision with a pedestrian is detected.

[0167] The lamp driving unit (650) can perform electronic control of various lamp apparatuses within the vehicle (100).

[0168] The air conditioning drive unit (660) can perform electronic control of the air conditioning device (air cinditioner) within the vehicle (100). For example, the air conditioning drive unit (660) can control the air conditioning device to operate and supply cool air to the vehicle when the temperature inside the vehicle is high.

[0169] The vehicle driving device (600) may include a processor. Each unit of the vehicle driving device (600) may individually include a processor.

[0170] The vehicle driving device (600) can be operated under the control of the control unit (170).

[0171] The driving system (700) is a system that controls various operations of the vehicle (100). The driving system (700) can be operated in autonomous driving mode.

[0172] The driving system (700) may include a driving system (710), an exiting system (740), and a parking system (750).

[0173] Depending on the embodiment, the driving system (700) may include other components in addition to the described components, or may not include some of the described components.

[0174] Meanwhile, the driving system (700) may include a processor. Each unit of the driving system (700) may individually include a processor.

[0175] Meanwhile, depending on the embodiment, if the driving system (700) is implemented in software, it may be a sub-concept of the control unit (170).

[0176] Meanwhile, according to an embodiment, the driving system (700) may be a concept including at least one of a user interface device (200), an object detection device (300), a communication device (400), a vehicle driving device (600), and a control unit (170).

[0177] The driving system (710) can drive the vehicle (100).

[0178] The driving system (710) can receive navigation information from the navigation system (770) and provide a control signal to the vehicle driving device (600) to drive the vehicle (100). The driving system (710) can receive object information from the object detection device (300) and provide a control signal to the vehicle driving device (600) to drive the vehicle (100). The driving system (710) can receive a signal from an external device through the communication device (400) and provide a control signal to the vehicle driving device (600) to drive the vehicle (100).

[0179] The exit system (740) can perform exit of a vehicle (100).

[0180] The exit system (740) can receive navigation information from the navigation system (770) and provide a control signal to the vehicle driving device (600) to perform exit of the vehicle (100). The exit system (740) can receive object information from the object detection device (300) and provide a control signal to the vehicle driving device (600) to perform exit of the vehicle (100). The exit system (740) can receive a signal from an external device through the communication device (400) and provide a control signal to the vehicle driving device (600) to perform exit of the vehicle (100).

[0181] The parking system (750) can perform parking of a vehicle (100).

[0182] The parking system (750) can receive navigation information from the navigation system (770) and provide a control signal to the vehicle driving device (600) to perform parking of the vehicle (100). The parking system (750) can receive object information from the object detection device (300) and provide a control signal to the vehicle driving device (600) to perform parking of the vehicle (100). The parking system (750) can receive a signal from an external device through the communication device (400) and provide a control signal to the vehicle driving device (600) to perform parking of the vehicle (100).

[0183] A navigation system (770) can provide navigation information. The navigation information can include at least one of map information, set destination information, route information based on the set destination, information on various objects along the route, lane information, and current vehicle location information.

[0184] The navigation system (770) may include memory and a processor. The memory may store navigation information. The processor may control the operation of the navigation system (770).

[0185] According to an embodiment, the navigation system (770) may receive information from an external device via the communication device (400) and update previously stored information.

[0186] Depending on the embodiment, the navigation system (770) may be classified as a subcomponent of the user interface device (200).

[0187] The sensing unit (120) can sense the status of the vehicle. The sensing unit (120) can include a posture sensor (e.g., a yaw sensor, a roll sensor, a pitch sensor), a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight detection sensor, a heading sensor, a yaw sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle interior temperature sensor, a vehicle interior humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, etc.

[0188] The sensing unit (120) can obtain sensing signals for vehicle attitude information, vehicle collision information, vehicle direction information, vehicle location information (GPS information), vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle inclination information, vehicle forward / backward information, battery information, fuel information, tire information, vehicle lamp information, vehicle internal temperature information, vehicle internal humidity information, steering wheel rotation angle, vehicle external illumination, pressure applied to an accelerator pedal, pressure applied to a brake pedal, etc.

[0189] The sensing unit (120) may further include, in addition, an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor (AFS), an intake temperature sensor (ATS), a water temperature sensor (WTS), a throttle position sensor (TPS), a TDC sensor, a crank angle sensor (CAS), etc.

[0190] The vehicle interface unit (130) can serve as a conduit for various types of external devices connected to the vehicle (100). For example, the vehicle interface unit (130) may be equipped with a port capable of connecting to a mobile terminal, and may be connected to the mobile terminal through the port. In this case, the vehicle interface unit (130) can exchange data with the mobile terminal.

[0191] Meanwhile, the vehicle interface unit (130) may serve as a conduit for supplying electrical energy to a connected mobile terminal. When the mobile terminal is electrically connected to the vehicle interface unit (130), the vehicle interface unit (130) may provide the mobile terminal with electrical energy supplied from the power supply unit (190) under the control of the control unit (170).

[0192] The memory (140) is electrically connected to the control unit (170). The memory (140) can store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory (140) can be various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, etc. in terms of hardware. The memory (140) can store various data for the overall operation of the vehicle (100), such as programs for processing or controlling the control unit (170).

[0193] Depending on the embodiment, the memory (140) may be formed integrally with the control unit (170) or implemented as a sub-component of the control unit (170).

[0194] The control unit (170) can control the overall operation of each unit within the vehicle (100). The control unit (170) can be referred to as an ECU (Electronic Control Unit).

[0195] The power supply unit (190) can supply power required for the operation of each component under the control of the control unit (170). In particular, the power supply unit (190) can receive power from a battery or the like inside the vehicle.

[0196] One or more processors and control units (170) included in the vehicle (100) may be implemented using at least one of application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

[0197] Meanwhile, in embodiments of the present invention, the 'vehicle steering device' is used to mean a steering system comprising a vehicle steering wheel, a disk coupled thereto and having a magnetorheological fluid built in, a communication module for receiving various data related to driving of the vehicle, and a control unit for applying current to the disk or controlling the current applied thereto.

[0198] Additionally, in embodiments of the present invention, the 'magneto-rheological fluid' is a material composed of particles that solidify when a magnetic field is applied, and the magneto-rheological fluid (MRF) disclosed in the present specification is formed to fill at least a portion of a steering wheel of a vehicle, i.e., a disk coupled to the handle.

[0199] Figure 7 is a block diagram for explaining a steering device (800) of a vehicle related to the present invention.

[0200] The steering device (800) of the vehicle includes a disc having a magnetorheological fluid built in, i.e., a magnetorheological fluid disc (810).

[0201] Here, the magneto-rheological fluid embedded in the disk (810) is a fluid in which magnetic particles are dispersed in a solvent such as oil before a magnetic field is generated. When a current is applied to the magneto-rheological fluid embedded in the disk (810) and a magnetic field is applied, the magnetic particles harden and the strength increases. Accordingly, the rotational torque of the magneto-rheological fluid disk (810) increases, and the rotational resistance of the coupled steering module, i.e., the wheel, increases, thereby changing the wheel operating feel.

[0202] The magnetorheological fluid disk (810) is configured to include a magnetorheological fluid in at least a portion of its interior, and the magnetorheological fluid disk (810) may be coupled to or included in the steering module.

[0203] A steering device (800) of a vehicle according to the present invention may be configured to include a communication module (or communication unit), a steering module, a communication unit, and a control unit connected to enable communication with the steering module.

[0204] The steering module of the steering device (800) may include or be combined with a magnetorheological fluid disc (810). For example, a magnetorheological fluid disc (810) (hereinafter referred to as “disc (810)”) may be applied to the axis of a wheel of the steering module. The wheel of the steering module provides a change in tactile sensation according to a change in the rotational torque or rotational resistance of the magnetorheological fluid disc (810).

[0205] The communication unit of the steering device (800) receives sensing data related to the driving of the vehicle. The sensing data received by the communication unit is transmitted to the control unit and used to recognize the driving situation and current driving status of the vehicle.

[0206] The control unit of the steering device (800) can recognize the driving situation of the vehicle based on the received sensing data, and control the current applied to the disk (810) so that the rotational torque value of the steering module changes based on the driving state related to the recognized driving situation.

[0207] Specifically, the control unit can apply, increase, or decrease current to the disk (810) to adjust the rotational torque during steering of the steering module. Accordingly, the degree of hardening of the magnetic particles of the magnetorheological fluid of the disk (810) changes, thereby providing different operational sensations during steering of the steering module.

[0208] Figure 8 is an example of a vehicle having a built-in steering device of a vehicle (100) related to the present invention.

[0209] Referring to FIG. 8, a steering input device (510) of a vehicle (100) may be implemented in a structure combined with a steering device (800) including a control unit for controlling the current applied to a disk (810, FIG. 7), a communication unit for receiving various sensing data, and a steering module. However, the illustration in FIG. 8 is only one example, and it is obvious that the steering input device (510) may be implemented in other combination forms.

[0210] Sensing data related to the driving of the vehicle is acquired by various sensors equipped in the vehicle (100), such as LIDAR, GPS, radar, and cameras. In addition, although not shown, map data, traffic-related network data, etc. are additionally acquired through other communication modules within the vehicle. The sensing data acquired in this manner is transmitted to the control unit of the steering device (800) and used to recognize the driving situation of the vehicle.

[0211] Meanwhile, the control unit of the steering device (800) may refer to the control unit (170) of the aforementioned vehicle, i.e., the Electronic Control Unit (ECU). In this case, the driving situation of the vehicle recognized by the ECU and the corresponding current control signal for the disk (810) may be transmitted to the steering device (800) of the vehicle.

[0212] The steering module of the steering device (800) has a changed operating feel according to the current applied to the disk (810), and the vehicle wheel (FT) connected to the steering device (800) through the rotation shaft also rotates according to the changed operating feel.

[0213] The steering device (800) is coupled with a steering input device (510) for controlling the direction of travel of the vehicle (100). Depending on the embodiment, the steering input device (510) may constitute a part of the steering device. Alternatively, depending on the embodiment, the steering input device (510) may be used to mean a part of the steering module of the steering device (800).

[0214] As the current applied to the disc (810) of the steering device (800) increases, the magnitude of the magnetic field applied to the magnetorheological fluid increases, thereby increasing the rotational torque or rotational resistance of the disc (810). Accordingly, the driver experiences an increased resistance when steering the coupled steering module. This provides the driver with an intuitive tactile perception of the driving situation of the vehicle (100) or its corresponding driving condition.

[0215] On the other hand, when the current applied to the disk (810) of the steering device (800) is reduced or no current is applied, the magnitude of the magnetic field applied to the magnetorheological fluid is reduced or eliminated, thereby reducing the rotational torque or rotational resistance of the disk (810). Accordingly, the steering resistance of the combined steering module is reduced again, providing an operational feel.

[0216] In this way, the steering device (800) according to the present invention provides the driver with an operating feeling appropriate to the situation by utilizing the property of a magnetorheological fluid whose mechanical characteristics change according to the current.

[0217] As mentioned above, magneto-rheological fluids (MRFs) are composite materials composed of ferromagnetic powder dispersed in a dispersion medium. While MRFs exhibit typical fluid behavior under normal conditions, they become magnetized when a magnetic field is applied, altering their physical properties (e.g., viscosity and stiffness). Specifically, when no external magnetic field is applied, they exist in a liquid state, but when an external magnetic field is applied, they transform into a semi-solid state, aligning the magnetic particles.

[0218] In this way, the disc (810) built into the steering device (800) according to the present invention includes a magnetorheological fluid, and is implemented so that a magnetic field can be formed inside the disc. To this end, a coil that generates a magnetic field according to the application of current is built into the disc, and the rotational torque value is changed through PWM (Pulse Width Modulation) control, thereby changing the rotational operating feel of the wheel.

[0219] Figure 9 is a block diagram for explaining the detailed configuration of a steering device (800) of a vehicle related to the present invention.

[0220] Referring to FIG. 9, the steering device (800) may include a communication unit (a), a control unit (b), and a steering module (c). In FIG. 9, the communication unit (a) may receive, for example, vehicle sensors, vehicle information, and network data via communication (TM) and transmit them to the control unit (a).

[0221] Vehicle sensors may include various sensors related to vehicle operation, such as a speed sensor, ADAS, and / or AR. These sensors may additionally include one or more sensors installed inside the vehicle. The sensing values ​​from these sensors, various vehicle information, and various data received via communication (TM) can be transmitted to the control unit of the vehicle's steering system via the communication unit.

[0222] The control unit (a) may be an ECU of the vehicle as described above. In another embodiment, the control unit (a) may be implemented as a processor, controller, etc. separate from the ECU.

[0223] The control unit (b) can recognize the vehicle's driving conditions based on various data received from the communication unit (a). For example, the control unit (b) can recognize various driving conditions related to the vehicle's safety, such as the vehicle's driving speed, the vehicle's position within the recognized driving lane, the distance from the recognized driving lane, the approach of a moving object, and the appearance of an obstacle.

[0224] The control unit (b) can transmit a current control signal to change the operating feel of the steering module (c) based on a driving state related to a recognized driving situation. In other words, the control unit (b) can provide a signal for controlling a current value to the steering device.

[0225] Specifically, the control unit (b) may transmit a control signal to apply increased current to the disc of the steering module (c) based on the driving condition related to the recognized driving situation being determined to be a dangerous situation or requiring careful driving. Accordingly, the rotational torque of the disc of the steering module (c) is varied, resulting in a changed wheel operation feel.

[0226] The control unit (b) can provide multiple resistance values ​​(or resistance ranges) to the disk of the steering module (c).

[0227] Here, the plurality of resistance values ​​may include a first resistance corresponding to a normal first current, and a second resistance corresponding to a second current based on a driving condition determined to be a dangerous situation or requiring careful driving related to a recognized driving situation. In this case, the first and second currents may be currents of different values ​​or ranges, and for example, the second current may be a current value greater than the first current or a current range including greater values.

[0228] Alternatively, the plurality of resistance values ​​may include a plurality of resistance values ​​corresponding to a plurality of currents (e.g., a plurality of current values) that are stepwise variable depending on the degree of risk situation or need for careful driving.

[0229] Alternatively, the plurality of resistance values ​​may include different resistance values ​​or resistance patterns depending on the type of driving condition associated with the recognized driving situation.

[0230] The steering module (c) may include a steering wheel KNOB switch (steering wheel knob switch) for providing a rotational operating feel corresponding to the rotational torque changed according to the plurality of resistance values. The steering wheel KNOB switch may be configured to include a control unit, a magnet, and a power supply unit.

[0231] The above plurality of resistance values ​​can be varied by directly changing the rotation torque of the steering wheel KNOB switch or in response to an external force value.

[0232] In this way, the steering wheel knob switch generates variable rotational torque or rotational resistance, allowing the driver to experience a changed rotational operating feel. Specifically, as a magnetic field is generated in the disc filled with the magnetorheological fluid, variable rotational torque or rotational resistance is transmitted to the coupled steering wheel knob switch, thereby generating multiple intervals (or multiple rotation angles (Ticks)) and multiple torques during steering. Accordingly, when the steering wheel is operated in conjunction with / linked to the steering wheel knob switch, a variable operating feel is provided due to various intervals or torques.

[0233] Meanwhile, the structural features and control features of the steering wheel KNOB switch may correspond to the structural features and control features of the steering device (800) or its steering module according to the present invention, which are described in detail with reference to FIGS. 11a and 11b below.

[0234] In other words, in FIG. 9, various data received by the communication unit (a) are transmitted to the vehicle's control unit (170), i.e., the ECU, and a current control signal for the disk is generated by the ECU and transmitted to the steering module. Therefore, the steering wheel KNOB switch described above can be used in the same sense as the steering module having the disk (810) built in, and can be used to mean a part of or the steering device (800) itself.

[0235] The steering module (c) generates a plurality of torques corresponding to each of the plurality of resistance values ​​to produce different rotational operation sensations.

[0236] In addition, the steering module (c) can transmit a signal according to the (driver's) feedback operation to the control unit (b), thereby controlling the current applied to the disk of the steering module (c) so that a variable rotational torque or rotational resistance is generated according to the feedback operation.

[0237] Here, the feedback manipulation may include steering wheel manipulation by the driver / autonomous vehicle in response to a change in steering feel associated with the steering module (c) according to current control. For example, this may mean that the driver / autonomous vehicle performs steering wheel manipulation in a direction that reduces the risk of a dangerous situation or the need for careful driving in response to a stiffening of the steering feel due to an increase in rotational torque or rotational resistance.

[0238] According to an embodiment, the control unit (b) may detect an operation of the steering module (c) corresponding to a recognized driving situation based on data acquired by a sensor or the like. Here, the operation of the steering module (c) may include both an operation performed by the driver and an operation performed by the autonomous vehicle.

[0239] Additionally, the control unit (b) can generate a signal for changing the current applied to the disk of the steering module (c) from the first current to the second current in response to the change in the driving state of the vehicle from the first state to the second state based on the operation of the detected steering module (c).

[0240] In this case, the second current may be a current value that is greater than the first current or a current range that includes increased current values. In another embodiment, the magnitude of the second current may have a variable value / range or a specific / variable pattern depending on the recognized driving situation and / or a driving state related to the driving situation.

[0241] In addition, the change in the driving state of the vehicle from the first state to the second state here means that the vehicle, in the recognized driving situation, changes to a driving state in a direction in which it approaches (approaches) a dangerous situation or a need for careful driving. For example, in response to steering wheel manipulation in a direction in which the current position of the vehicle approaches the driving lane, the current applied to the disk of the steering module (c) may be changed to a second current to maintain the vehicle in the driving lane. Accordingly, through the steering wheel with the changed rotational resistance applied, a tactile sensation that allows for intuitive perception of a dangerous situation can be experienced.

[0242] Additionally, although not shown, the steering device (800) may be linked to a display device of the vehicle to output the control result of the steering torque value through the display device.

[0243] In such cases, the change in rotational torque due to the control of the current applied to the disk can be visually confirmed through a display device. At this time, the display device can also display the cause of the change in rotational torque (e.g., high-speed driving, approaching object moving in the adjacent lane) and the suggested driving operation / status (e.g., slowing down, maintaining lane, etc.).

[0244] Figure 10 is a representative flowchart for explaining a control method of a steering device of a vehicle related to the present invention.

[0245] Each step of the control method illustrated in FIG. 10 may be understood to be performed by the control unit (b) or by a separate processor / controller of the steering device (800) unless otherwise described. Alternatively, each step of FIG. 10 may be performed by a separate device / system within the vehicle linked to operate the steering device (800).

[0246] Referring to FIG. 10, a method for controlling a steering device according to an embodiment of the present invention first begins with a step (1010) of receiving sensing data related to driving of a vehicle by a control unit while the vehicle is driving.

[0247] Here, the sensing data may include sensing values ​​from sensors inside or outside the vehicle, as well as map data and network data related to the vehicle's driving received via a network. For example, it may include sensing values ​​such as vehicle speed, location information, and location information / data regarding the driving lane, as well as ADAS sensing data and BSD data related to the vehicle's surroundings. It may also include network data transmitted from outside the vehicle, such as traffic congestion information and destination information.

[0248] Next, the control unit performs a step of recognizing the driving situation of the vehicle based on the received sensing data and determining a driving state related to the recognized driving situation (1020).

[0249] Here, recognizing the vehicle's driving situation based on the received sensing data and recognizing the vehicle's driving status related to the recognized driving situation can be performed by the vehicle's electronic control unit (ECU) or engine control unit (ECU). In this case, the control unit may be used to refer to the vehicle's electronic control unit or engine control unit, i.e., the ECU.

[0250] Specifically, the control unit can recognize the surroundings of the vehicle based on the current location of the vehicle while the vehicle is driving based on the received sensing data.

[0251] For example, the control unit may perform situational awareness based on driving data such as the vehicle's driving speed and driving direction, as well as situational awareness based on situational data such as an object around the vehicle (e.g., another vehicle, a motorcycle, a pedestrian, etc.) approaching the vehicle, an obstacle detected during driving, a change in the distance between the vehicle and the driving lane or fence, etc. In addition, the control unit may perform situational awareness based on network data such as a route change notification due to traffic congestion transmitted from an external source.

[0252] Additionally, the control unit can determine whether the driving condition related to the recognized driving situation is a dangerous situation or a case requiring careful driving.

[0253] For example, if a vehicle's speed exceeds a threshold and continues or increases for a certain period of time, it may be determined that caution is required. In such cases, a control signal may be generated to increase the rotational torque of the vehicle steering module, as described below.

[0254] Meanwhile, for example, if it is determined that the driving speed of the vehicle has decreased again below a reference value and the need for careful driving has decreased, a control signal may be generated to restore the rotational torque value of the vehicle steering module to the initial setting as described below.

[0255] Next, the method for controlling the steering device performs a step of controlling a current applied to a disk so that a rotational torque value of the steering module including a disk having a magnetorheological fluid built in changes based on the determined driving state (1030).

[0256] Here, the rotational torque value of the steering module may be 0 or a first current before the magnetic field is applied. Depending on the determined driving state, the rotational torque value of the steering module may be changed to a second current that is increased from the previous current. The second current may have a variable value / range / pattern depending on the degree of risk or need for careful driving corresponding to the determined driving state and / or the type of driving situation recognized.

[0257] Meanwhile, although not shown, if the control unit determines that the perceived driving situation deviates from a dangerous situation or requires careful driving, it may change the second current to the first current to reduce the rotational torque value of the steering module. Accordingly, the driver will be able to tactilely perceive that the dangerous situation has been resolved through a change in the steering wheel operation feel coupled with the steering module.

[0258] According to an embodiment, the communication unit of the steering device (800) may receive rotation information for the steering module (a) detected in a second state determined to be a dangerous situation of the vehicle or a state requiring careful driving. Here, the communication unit may receive the rotation information for the steering module (a) using a different communication module or communication path than the communication unit that receives the sensing data of the vehicle.

[0259] In this case, the control unit can control the magnitude of the second current value differently so that the degree of change in the rotation torque value of the steering module varies based on the rotation information about the steering module received through the communication unit. That is, the steering device (800) can recognize the steering operation received after the change in the steering operation feel as feedback information, and increase or decrease the second current based on the recognized feedback information. Accordingly, the steering operation feel can be changed to become stiffer or smoother than before.

[0260] Meanwhile, the rotation information of the steering module may include rotation angle information of the steering module. In this case, the control unit may gradually change the size of the second current applied to the disk according to the rotation angle information of the steering module detected in a second state determined to be a dangerous situation of the vehicle or a need for careful driving.

[0261] For example, when the rotation angle of the steering module increases, the magnitude of the second current applied to the disk can be gradually increased, thereby gradually increasing the rotational torque. Conversely, when the rotation angle of the steering module decreases or is maintained in an aligned state, the magnitude of the second current applied to the disk can be gradually reduced, thereby gradually reducing the rotational torque.

[0262] In another embodiment, the control unit may control the second current applied to the disc to have a specific pattern in a second state determined to be a dangerous situation or a need for careful driving of the vehicle. For example, if the current position of the vehicle is close to the lane line of the driving lane, the second current may be controlled to gradually increase the rotational torque in the direction in which the steering wheel is turned closer to the lane line and decrease the rotational torque in the direction in which the steering wheel is turned away from the lane line, thereby allowing the driver to experience an intuitive tactile sensation of maintaining the lane line.

[0263] FIGS. 11a and 11b are drawings for explaining structural features and control features of the steering device related to FIG. 10, respectively.

[0264] Specifically, FIGS. 11A and 11B relate to the structural features and control characteristics of the steering module (c) described with reference to FIG. 9, for example, the steering wheel KNOB switch. Hereinafter, the steering wheel KNOB switch is described as an example, but this is for illustrative purposes only. The description of the structure and control of FIGS. 11A and 11B can be applied to the structure and control of the steering device (800) itself.

[0265] A steering wheel KNOB switch may include a control unit, a magnet, and a power supply unit. The steering wheel KNOB switch includes a disk (810) at least partially filled with a magnetorheological fluid.

[0266] In FIG. 11a, the disk (810) may include a housing, a shaft (not shown) rotatably installed within the housing, a rotating ring that rotates in conjunction with the rotation of the shaft, and a coil disposed inside that generates a magnetic field according to an applied current.

[0267] Although not illustrated in detail, the disc (810) is coupled to a steering device (i.e., a handle, a steering wheel) that is rotated by the driver. Furthermore, the disc (810) is coupled to a vehicle wheel whose movement is controlled in response to the steering device's operation. Furthermore, the disc (810) is coupled to an encoder (820) that detects the amount of rotation according to the steering wheel's operation.

[0268] Additionally, at least a portion of the interior of the disk (810) may be filled with a magnetorheological fluid. 11a illustrates that particles of the magnetorheological fluid are filled around the outer circumference of the core of the disk (810), but the present invention is not limited to this structure.

[0269] Referring to FIG. 11b together, the control process of the steering wheel KNOB switch includes the process of generating a power signal by a control unit (1110), applying a magnetic field according to the operation of a power source (1120), generating rotational resistance according to the generation of a magnetic field of a coil (1130), and confirming the rotation amount (1140) in an encoder (820, FIG. 11a).

[0270] At this time, the control unit (1110) refers to a processor / controller that receives a current control signal from the aforementioned control unit and generates a corresponding power signal. Alternatively, the control unit (1110) may be used with the same meaning as the aforementioned control unit.

[0271] As an example, the control unit (1110) may further include a PWM signal generator for applying electricity to the coil (1130) in a pulse width modulation (PWM) manner. In this case, the PWM signal generator may be included within the control unit (1110) and may generate pulses to output power applied to the coil, for example, a second current, in the form of a variable pulse width.

[0272] The power source (1120) applies a current corresponding to a power signal received from the control unit (1110) to the coil to generate a magnetic field. Here, the current corresponding to the received power signal may mean, for example, the second current described above.

[0273] The coil (1130) may be, for example, a rotary solenoid coil. When a current is applied to the coil (1130), a magnetic field corresponding to the applied current is formed. Due to the magnetic field formed in the coil (1130), the particles of the magneto-rheological fluid inside the disk (810) are arranged in the direction of the magnetic force line or in the vertical direction, so as to have a structure like a chain. Accordingly, a rotational torque is generated for the disk (810). That is, the rotational torque of the rotating ring that rotates in conjunction with the rotation of the shaft inside the disk may change depending on changes in the characteristics of the viscosity, stiffness, etc. (hereinafter, “viscosity”) of the magneto-rheological fluid filled inside the disk (810).

[0274] Here, the magnitude of the rotational torque can be calculated as the sum of the control torque due to the generation of the magnetic field applied to the coil (1130), the viscous torque due to the viscosity of the magnetorheological fluid, and the frictional torque generated by the mechanical element. In the present invention, the rotational torque can be changed by changing the control torque that controls the magnetic field applied to the magnetorheological fluid by applying current to the coil (1130).

[0275] In the present invention, the magnetorheological fluid is composed of a composite material in which ferromagnetic powder is dispersed in a dispersion medium.

[0276] When no magnetic field is applied to the magneto-rheological fluid within the disk (810), the particles of the magneto-rheological fluid are in a dispersed state. Accordingly, the rotational torque has a set fixed value. On the other hand, when a magnetic field is generated in the magneto-rheological fluid within the disk (810), the viscosity of the particles of the magneto-rheological fluid changes, changing into a chain shape in the direction of the magnetic field line. Accordingly, a control torque component is generated, which causes a change in the rotational torque that is enough to transmit a change in tactile sensation to the hand of the driver gripping the steering wheel, i.e., the overall rotational torque increases.

[0277] According to an embodiment, as the size of the disk (180) and / or the amount of magnetic particles of the magnetorheological fluid within the disk (810) increases, the rotational torque generated upon application of current increases. Specifically, as the number of magnetic particles constituting the magnetorheological fluid within the disk (810) increases, a stronger chain structure is formed when a magnetic field is generated, and therefore, the corresponding increase in rotational torque upon application of current to the disk (810) also increases.

[0278] The encoder (820) detects the amount of rotation of the steering module according to the application of rotational resistance and transmits a feedback signal accordingly to the control unit (1110). The control unit (1110) can change the power signal transmitted to the power source (1120) in response to the received feedback signal. For example, the control unit (1110) can determine whether the magnitude of the current is maintained / reduced / increased in response to the feedback signal and provide a corresponding power signal to the power source (1120).

[0279] The control unit (1110) applies a plurality of different current values ​​to the disk according to the driving condition related to the recognized driving situation. Accordingly, different magnetic fields are generated in the coil (1130), for example, a rotary solenoid coil, depending on the plurality of current values, thereby generating different rotational resistance values.

[0280] Here, the plurality of current values ​​include a first current and a second current, as described above, and the second current may include current values ​​greater than the first current. In addition, the different rotational resistance values ​​corresponding to the plurality of current values ​​increase as the current value applied to the disk (810) increases.

[0281] According to an embodiment, the control unit or control section (1110) may feedback-regulate the current value applied to the disk (810) in response to a change in the driving situation of the vehicle recognized based on the rotation amount of the disk (180) and the sensing data of the vehicle received through the communication section.

[0282] Here, feedback control of the current value means that the size of the second current is varied and applied to the disk (810).

[0283] Specifically, the rolling resistance value may be increased by increasing the magnitude of the second current based on whether the perceived driving situation is determined to be closer to a dangerous situation or a need for careful driving. Alternatively, the rolling resistance value may be decreased by decreasing the magnitude of the second current based on whether the perceived driving situation is determined to be moving away from a dangerous situation or a need for careful driving, or such a situation has been resolved.

[0284] In this way, as the magnitude of the current applied to the disk (180) increases, the rotational resistance or rotational torque may increase proportionally. However, when the rotational resistance due to the magnetic field reaches the maximum value, the rotational resistance maintains the maximum value even if the magnitude of the current increases.

[0285] Figure 12 is a graph showing changes in steering torque according to current control in a steering device related to the present invention. This graph shows how steering torque changes by controlling the current value for a steering device to which a magnetorheological fluid is applied.

[0286] As illustrated in Fig. 12, when no current is applied to the disk (810) of the steering module, that is, when the current is '0', no magnetic field is applied to the magnetorheological fluid, and therefore no rotational resistance occurs. Thereafter, when the current applied to the disk (810) of the steering module increases, it can be confirmed that the magnitude of the rotational resistance increases proportionally. Meanwhile, when the magnitude of the rotational resistance reaches a maximum value, for example, 1.5 (Nm), the magnitude of the rotational resistance maintains the maximum value even if the current applied to the disk (810) of the steering module increases.

[0287] At this time, the maximum value of the rotational resistance may vary depending on the size of the disk (810) of the steering module and the particle amount of the magneto-rheological fluid filled in the disk (810). For example, the larger the size of the disk (810) of the steering module and the greater the particle amount of the magneto-rheological fluid filled in the disk (810), the greater the maximum value of the rotational resistance may be.

[0288] According to an embodiment of the present invention, the magnitude of the current applied to the disk (810) of the steering module is determined to vary depending on the driving condition corresponding to the recognized driving situation. For example, the magnitude of the current to be applied to the disk (810) of the steering module can be determined based on the recognized vehicle driving situation based on the sensing values ​​of sensors such as the vehicle's speed sensor, distance sensor, ADAS, BSD, AR, etc.

[0289] Alternatively, depending on the embodiment, the sizes of different current values ​​to be applied according to the recognized driving situation may be matched and stored in advance in a vehicle memory (not shown), etc.

[0290] Alternatively, depending on the embodiment, a current pattern suitable for each recognized driving situation may be stored in advance, so that different tactile sensations can be recognized for each driving situation. Here, the current pattern may correspond to a specific tactile pattern. Alternatively, the current pattern may be

[0291] In this way, when the magnitude of the current applied to the disk (810) of the steering module is varied, the magnitude of the rotational resistance (or rotational torque) of the steering module is varied, so that the operating sensation felt by the driver from the steering wheel changes. Accordingly, the driver can intuitively and tactilely recognize dangerous situations or situations requiring careful driving.

[0292] Fig. 13 is a flowchart for explaining another control method of a steering device of a vehicle related to the present invention.

[0293] Referring to FIG. 13, the steering device can detect steering wheel manipulation corresponding to a recognized driving situation (1310). Here, steering wheel manipulation includes both cases by the driver and cases by the autonomous vehicle.

[0294] Continuing, the control unit of the steering device can determine that the driving state of the vehicle has changed from the first state to the second state based on the detected operation of the steering wheel (1320).

[0295] Here, the first state may be a state in which the recognized driving condition of the vehicle or a corresponding driving condition is determined to be a dangerous situation or one that does not require careful driving. In this case, there is no need to increase the rotational resistance of the disc (810). Accordingly, the current steering feel can be maintained or the rotational resistance can be controlled to be '0'.

[0296] Meanwhile, the second state may be a state in which the recognized driving condition of the vehicle or a corresponding driving condition is determined to be a dangerous situation or a state requiring careful driving. In this case, the steering feel may be altered by increasing the rotational resistance of the disc (810).

[0297] Here, the increase in the rotational resistance of the disk (810) corresponds to the magnitude of the current. The control unit can determine the magnitude of the current, for example, the magnitude of the second current, differently depending on the degree of danger corresponding to the second state or the need for careful driving.

[0298] Specifically, the control unit can determine that the driving state of the vehicle has changed from the first state to the second state based on the detection of steering wheel operation in a direction in which the current position of the vehicle approaches the driving lane.

[0299] Additionally, the control unit may determine that the driving state of the vehicle has been changed from the first state to the second state based on detection of steering wheel operation of the vehicle in a high-speed driving state in which the current driving speed of the vehicle exceeds a predetermined value.

[0300] Based on the fact that the driving state of the vehicle has changed to the second state, the control unit can change the current value applied to the disk of the steering device from the first current to the second current (1330).

[0301] Here, the second current may be a current value greater than the first current or a current range including values ​​of greater magnitude. Alternatively, the first current may be a current value less than the second current or a current range including values ​​of smaller magnitude.

[0302] When the current value applied to the disc changes from the first current to the second current, the magnetorheological fluid built into the disc coupled with the steering device becomes magnetized, causing the rotational resistance (rotational torque) to increase. In this way, as the rotational torque of the disc increases, the coupled steering device also experiences rotational resistance, so that the driver experiences an intuitive tactile signal.

[0303] In an embodiment, the second current may be varied based on the perceived driving situation and / or the degree of steering wheel manipulation corresponding to the driving situation. For example, the value or range of the second current may be controlled to increase so that the faster the vehicle's driving speed, the stronger the intuitive tactile signal felt by the driver.

[0304] In addition, as an example, the control unit can adjust the control pattern of the current applied to the disk (810) differently depending on the recognized driving situation based on various sensing data, etc.

[0305] Specifically, the control unit can generate a signal to form a pattern of the second current that forms a multi-rotation torque according to the second current. To this end, the control unit can further include a PWM signal generator for applying electricity to the coil (1130) in a pulse width modulation (PWM) manner, and the PWM signal generator can generate a pulse to output the second current in the form of a variable pulse width.

[0306] In another embodiment, the control unit may control the current applied to the steering module, i.e., the disk (810), to a second value according to the operation of the steering module that matches the recognized driving situation based on various sensing data, etc.

[0307] After this, when sensing data is received according to the operation of the steering module that deviates from the recognized driving situation, the control unit can adjust the rotational torque value of the steering module by controlling the current applied to the disk (810) to the initial value or the previous value, which is the first current.

[0308] Below, examples of changes in steering feel according to specific vehicle driving situations and / or corresponding driving conditions will be described.

[0309] As a specific example, FIGS. 14a and 14b illustrate the operation of a steering device according to detection of a vehicle's driving speed.

[0310] A steering device (800) according to an embodiment of the present invention can control the current applied to the disk (810) to change the operating feel of the steering module based on the driving speed sensed by the vehicle's speed sensor.

[0311] Specifically, the control unit of the steering device (800) can recognize a change in the speed of the vehicle based on sensing data related to the driving speed of the vehicle, and can control the current applied to the disk so that the rotational torque value of the steering module changes based on the recognized change in speed.

[0312] To this end, vehicle speed information corresponding to the vehicle's driving speed is transmitted to a control unit, such as an ECU, via a communication unit. The ECU generates a current control signal so that the rotational resistance of the steering device (800) varies in response to the vehicle speed information.

[0313] Specifically, the control unit applies a current to the magnetorheological fluid within the disk (810) in proportion to the speed size corresponding to the vehicle speed information to adjust the rotational torque so that the steering operation feel is variable.

[0314] The generated current control signal includes the process of generating a power signal by a control unit (1110), applying a magnetic field according to the operation of a power source (1120), generating rotational resistance according to the generation of a magnetic field of a coil (1130), and checking the rotation amount (1140) in an encoder (820, FIG. 11a), as described with reference to FIG. 11b.

[0315] Accordingly, for example, as illustrated in FIG. 14a, in a driving situation where the vehicle (100) is driving at a high speed, such as on a highway (a), the torque can be adjusted so that the rotational resistance value increases proportionally by increasing the current applied to the disk (810) of the steering module.

[0316] On the other hand, in a driving situation in which a vehicle (100) in FIG. 14a is driving at a low speed due to traffic congestion or the like on a general city road (b), the torque can be adjusted so that the rotational resistance value is proportionally reduced by reducing the current applied to the disk (810) of the steering module.

[0317] Continuing with reference to FIG. 14b, in low-speed driving (1401), the current applied to the disk (810) can be reduced (e.g., the first current described above) to adjust the rotational resistance to be reduced in proportion thereto. On the other hand, in high-speed driving (1402), the current applied to the disk (810) can be increased (e.g., the second current described above) to adjust the rotational resistance to be increased in proportion thereto. At this time, the degree of increase in the rotational resistance can be implemented to be proportional to the size of the vehicle's driving speed. That is, as the size of high-speed driving (1402) increases, the rotational torque or rotational resistance of the steering module can also be proportionally increased by increasing the current applied to the disk (810).

[0318] Meanwhile, in another embodiment, the control unit may operate to vary or weight the current to be applied to the disk (810) by combining it with one or more other driving conditions together with the vehicle speed information.

[0319] Here, the other one or more driving situations may include driving-related surrounding situation information, such as driving time (e.g., night driving), weather (e.g., fog, rain, etc.), road conditions (e.g., unpaved road, slope, etc.). For example, if the driving time is 'night', the current increase corresponding to the driving speed may be weighted to be greater than during the day, thereby providing an intuitive sense of a dangerous situation.

[0320] In this way, the steering device (800) according to the present invention is implemented to have a steering module that is sensitive to the driving speed of the vehicle, thereby allowing the driver to experience an intuitive tactile sensation due to the variable steering wheel operation feel in situations requiring careful driving, such as when driving at high speeds.

[0321] As another specific example, FIGS. 15a and 15b illustrate the operation of a steering device related to maintaining a vehicle's driving lane.

[0322] A steering device (800) according to an embodiment of the present invention can control the current applied to a disk (810) to change the operating feel of a steering module based on recognition of a lane and recognition of the position of a vehicle within the lane determined by a vehicle position sensor. Here, the lane may include left and right lines or fences forming the current driving lane of the vehicle.

[0323] Specifically, the control unit of the steering device (800) can recognize the lane in which the vehicle (100) is currently driving through vehicle sensing data and can recognize the position of the vehicle within the recognized lane. In addition, the control unit can calculate the left and right distances between the lane and the vehicle based on the recognized lane and the position of the vehicle within the lane. At this time, the distance between the vehicle and the lane is determined as the shorter value among the calculated left and right distances.

[0324] The control unit of the steering device (800) can increase the current applied to the disk (810) of the steering module so that the rotational resistance of the steering device increases as the distance between the lane and the vehicle gets closer.

[0325] Specifically, as shown in (a) of FIG. 15a, while the distance (L1) between the position of the vehicle (100) within the lane and the left and right lanes (1510L, 1015R) is within the allowable range, the control unit can control the current applied to the disk (810) so as to provide a normal steering wheel operating feel. For example, the control unit can transmit a signal so that a first current is transmitted to the disk (810), and control so that only a rotational resistance corresponding to the first current is generated.

[0326] On the other hand, as in (b) of Fig. 15a, when the distance (L2) between the position of the vehicle (100) within the lane and one of the left and right lanes (1510L, 1015R) is reduced below the allowable range, the control unit can control the current applied to the disk (810) so as to provide a steering wheel operating feel with increased rotational torque. For example, the control unit can control so that a second current, which is increased compared to the first current, is transmitted to the disk (810), thereby generating increased rotational resistance corresponding to the second current.

[0327] At this time, the second current may be varied based on changes in the position of the vehicle (100) within the lane and the distance between the left and right lanes (1510L, 1015R) as a result of steering wheel operation detection. Accordingly, an intuitive tactile sensation may be transmitted through the steering wheel so that the vehicle (100) maintains the current driving lane.

[0328] Fig. 15b illustrates the relationship between current and resistance according to the position of a vehicle within a lane and the distance between the left and right lanes. In Fig. 15b, during a first distance (L1) where the distance between the vehicle and the lane remains within an allowable range, a first current is applied to the disk (810) to generate a rotational torque of a normal or small magnitude. On the other hand, in Fig. 15b, during a second distance (L2) where the distance between the vehicle and the lane narrows below the allowable range, a second current, which is increased from the first current, is applied to the disk (810). Accordingly, a rotational torque with increased steering feel is generated.

[0329] Meanwhile, in Fig. 15b, each of the first distance (L1) and the second distance (L2) does not mean a specific distance value. Specifically, a plurality of distance values ​​that fall below the distance value of the allowable range that distinguishes the first distance (L1) and the second distance (L2) may all be defined as the second distance (L2). On the other hand, a plurality of distance values ​​that satisfy the distance value of the allowable range that distinguishes the first distance (L1) and the second distance (L2) may all be defined as the first distance (L1).

[0330] Accordingly, the control unit can control the magnitude of the current applied to the disk (810) to be gradually varied in inverse proportion to the separation distance recognized while satisfying the first distance (L1). In addition, the control unit can control the magnitude of the current applied to the disk (810) to be gradually varied in inverse proportion to the separation distance recognized while satisfying the second distance (L2). However, as illustrated in FIG. 15b, when the rotational resistance according to the increase in current reaches the maximum value, the rotational resistance will maintain the maximum value even if the current is further increased thereafter.

[0331] Meanwhile, when the rolling resistance increases as the distance between the vehicle in the lane and the lane changes, that is, when the first distance (L1) changes to the second distance (L2) and the magnitude of the current applied to the disk (810) increases, screen information for inducing lane centering can be output to the connected display device.

[0332] In addition, in the embodiment, even after the magnitude of the current and the rotational resistance increase as the distance between the vehicle within the lane and the lane changes from the first distance (L1) to the second distance (L2), the operation may be performed so that the magnitude of the current and the rotational resistance decrease again within a certain range after a predetermined period of time. However, if the distance between the vehicle within the lane and the lane becomes narrower, the operation may be performed so that the magnitude of the current and the rotational resistance increase by an amount equal to the previous increase.

[0333] Meanwhile, the control unit can feedback the magnitude of the current and rolling resistance based on the recognized steering wheel operation while monitoring the distance between the vehicle in the lane and the lane.

[0334] To this end, the control unit can determine the position of the vehicle within the driving lane based on the sensing data of the vehicle.

[0335] In addition, the control unit may increase the current applied to the disk (810) of the steering module so that the rotational torque value of the steering module increases in response to a first situation in which the steering angle of the vehicle occurs in a direction approaching the driving lane based on the determined vehicle position. Here, the first situation means a situation in which the vehicle may deviate from the lane or a situation in which careful driving is determined to be necessary as a result of the determination of the control unit.

[0336] In addition, the control unit may reduce the current applied to the disk (810) of the steering module so as to reduce the rotational torque value of the steering module in response to a second situation in which the rotational torque value of the steering module increases and the steering angle of the vehicle moves away from the driving lane. Here, the second situation refers to a situation in which the vehicle is determined to be in a lane centering or lane keeping state as a result of the determination of the control unit.

[0337] In this way, according to an embodiment of the present invention, a driver can be provided with different steering wheel operation sensations in the direction of getting closer to a dangerous situation and in the direction of moving away from a dangerous situation.

[0338] As another specific example, FIGS. 16a and 16b illustrate the operation of a steering device related to BSD (Blind Spot Detection) response of a vehicle.

[0339] A steering device (800) according to an embodiment of the present invention can control the current applied to the disk (810) to change the operating feel of the steering module based on the detection of the approach of a moving object around the vehicle by an ADAS sensor of the vehicle, etc.

[0340] When a vehicle (100) detects an approaching moving object from the side of the vehicle by an ADAS sensor or the like while driving, the vehicle applies a BSD (Blind Spot Detection) system to provide a warning notification to the driver. In the present invention, the steering device (800) can operate in conjunction with the BSD (Blind Spot Detection) system.

[0341] Specifically, the control unit of the steering device (800) can determine the position of the vehicle within the driving lane based on sensing data of the vehicle, and recognize the presence of a moving object (e.g., the appearance of another vehicle, a pedestrian, an animal, an obstacle, etc.) on the side of the vehicle based on the determined position. In addition, the control unit can increase the current applied to the disk (810) of the steering module so that the rotational torque value of the steering module increases in the direction of approaching the recognized moving object.

[0342] According to an embodiment, the steering device (800) may control the current applied to the disk (810) in conjunction with the operation of the BSD (Blind Spot Detection) system. Specifically, when the BSD (Blind Spot Detection) system operates as a moving object approaches the side of the vehicle, the current applied to the disk (810) may be operated to increase.

[0343] At this time, the control unit of the steering device (800) can control the size of the current applied to the disk (810) according to the vehicle approach speed and separation distance of the recognized moving object.

[0344] For example, when a recognized moving object approaches a vehicle at a high speed, the current applied to the disk (810) may be increased to rapidly increase the rotational torque or rotational resistance. On the other hand, when the recognized moving object passes the vehicle or the distance between them increases, the current applied to the disk (810) may be reduced to restore the original steering feel.

[0345] Referring to FIG. 16a, when driving a vehicle (100), the position of the vehicle within the lane, the presence of another vehicle (1610) in the adjacent lane, and the approach of another vehicle (1610) can be detected through the ADAS and BSD (rear side warning) system or control unit.

[0346] At this time, based on the determination that the distance (L3) between the vehicle (100) and the other vehicle (1610) has narrowed below the allowable range, the steering device (800) may operate to increase the rotational torque or rotational resistance of the disk (810) in a direction that matches the driving lane of the other vehicle (1610). On the other hand, by operating to decrease or maintain the rotational torque or rotational resistance of the disk (810) in a direction opposite to the driving lane of the other vehicle (1610), the steering device (800) may operate to have multiple rotational torques depending on the driving state of the vehicle.

[0347] In another embodiment, the control unit of the steering device (800) may operate by linking the trigger timing of the change in rolling resistance according to the approach of a moving object with the operating timing of the turn signal device of the vehicle. In this case, when the moving object simply passes by the side of the vehicle, only the BSD (Blind Spot Detection) system is activated, and when the vehicle (100) also operates the turn signal device, the current applied to the disk (810) is variably controlled.

[0348] In addition, the control unit of the steering device (800) can operate to apply current to the disk (810) with the first current described above when a moving object is detected at the side / rear of the vehicle, and to apply current to the disk (810) with the variable second current described above depending on the degree to which the detected moving object approaches the vehicle.

[0349] In this regard, referring to FIG. 16b, when another vehicle approaching the vehicle is detected (1620), the steering module is controlled with a first current that is smaller. Then, when another vehicle approaches closer to the vehicle (1630), the steering module is controlled with a second current having an increased current value or current pattern, thereby generating increased rotational resistance or rotational torque. For example, when a vehicle in an adjacent lane is detected and approaches closer to the vehicle, the current value applied to the steering device is increased to control the steering torque value to increase.

[0350] As described above, the steering device of a vehicle and the control method of the steering device of the vehicle according to the present invention allow the driver's steering wheel operation feel to vary based on various data collected while the vehicle is driving and the recognized driving situation and driving condition of the vehicle, thereby enabling the driver to intuitively recognize dangerous situations or driving caution. For example, by providing a sense of operation with increased steering wheel rotational resistance when the vehicle is driving at high speeds, the driver can more intuitively perceive high-speed driving situations and drive cautiously. In addition, by implementing a variety of changes in the steering wheel operation feel to reflect various driving situations, the driver can experience a more situation-specific operating feel. For example, the driver can be provided with different steering wheel operation feel depending on the direction in which the driver is approaching and moving away from a dangerous situation. In addition, by varying the intensity or pattern of the tactile signal depending on the type and degree of approaching the dangerous situation, a richer intuitive experience can be provided.

[0351] The present invention described above can be implemented as computer-readable code on a medium having a program recorded thereon. Computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state disk drives (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc., and also include media implemented in the form of carrier waves (e.g., transmission via the Internet). Furthermore, the computer may include a server or a processor / controller of a system. Accordingly, the above detailed description should not be construed as limiting in all respects, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are intended to be included in the scope of the present invention.

Claims

1. A communication unit that receives sensing data related to vehicle driving; A steering module comprising a disc having a magnetorheological fluid built in; and A control unit that is connected to the communication unit and the steering module so as to be communicatively connected, recognizes the driving situation of the vehicle based on the received sensing data, and controls the current applied to the disk so that the rotational torque value of the steering module changes based on the driving state related to the recognized driving situation. The steering device of a vehicle.

2. In paragraph 1, The above control unit, A driving system characterized in that it detects an operation of the steering module corresponding to the recognized driving situation, and changes the current applied to the disk from a first current value to a second current value in response to the driving state of the vehicle changing from a first state to a second state based on the detected operation. The steering device of a vehicle.

3. In paragraph 2, The above communication unit receives rotation information of the steering module detected in the second state, The control unit is characterized in that it controls the size of the second current value differently so that the degree of change in the rotation torque value of the steering module varies based on the received rotation information. The steering device of a vehicle.

4. In paragraph 3, The above rotation information includes rotation angle information of the steering module, The above control unit, According to the rotation angle information detected in the second state, the size of the second current value applied to the disk is changed in steps. The steering device of a vehicle.

5. In paragraph 1, The above disk includes a rotating coil connected to the magnetorheological fluid, The above control unit, A plurality of different current values ​​are applied to the disk according to the driving state related to the above-described recognized driving situation, and different magnetic fields are generated in the rotating coil according to the plurality of current values, thereby controlling the generation of different rotational resistance values. The steering device of a vehicle.

6. In paragraph 5, The above different rotational resistance values ​​increase as the current value applied to the disk increases. The above control unit, Based on the rotation amount of the disk and the change in the driving situation of the vehicle recognized based on the received sensing data, feedback control of the current value applied to the disk is characterized by a steering device of a vehicle.

7. According to claim 1, the control unit is characterized in that the control pattern of the current applied to the disk is adjusted differently for each recognized driving situation a steering device of a vehicle.

8. According to claim 2, the control unit controls the current to a second current value based on the fact that sensing data according to the operation of the steering module matching the recognized driving situation is received, and controls the current to the first current value based on the fact that sensing data according to the operation of the steering module outside the recognized driving situation is received, thereby changing the rotational torque value of the steering module, which is characterized by a steering device of a vehicle.

9. According to claim 1, the control unit recognizes a speed change of the vehicle based on the sensing data, and controls the current applied to the disk so that the rotational torque value of the steering module changes based on the recognized speed change, which is characterized by a steering device of a vehicle.

10. According to claim 1, the control unit determines the position of the vehicle in the driving lane based on the sensing data, and in response to a first situation in which the steering angle of the vehicle is generated in a direction closer to the driving lane based on the determined position of the vehicle, increases the current applied to the disk so that the rotational torque value of the steering module increases, which is characterized by a steering device of a vehicle.

11. According to claim 10, the control unit is characterized in that in response to a second situation in which the rotational torque value of the steering module increases and the steering angle of the vehicle is generated in a direction away from the driving lane, the current applied to the disk is decreased so that the rotational torque value of the steering module decreases a steering device of a vehicle.

12. According to claim 1, the control unit Based on the sensing data, determining the position of the vehicle in the driving lane, recognizing the presence of a moving object on the side of the vehicle based on the determined position, and increasing the current applied to the disk so that the rotational torque value of the steering module increases in the direction approaching the recognized moving object. Steering device of a vehicle.

13. Receiving sensing data related to the driving of the vehicle while the vehicle is driving; Recognizing the driving situation of the vehicle based on the received sensing data and determining the driving state related to the recognized driving situation; and Controlling the current applied to the disk so that the rotational torque value of the steering module including the disk with magnetorheological fluid changes based on the determined driving state. Control method of a steering device of a vehicle.

14. According to claim 13, The step of determining the driving state is Detecting the operation of the steering module corresponding to the recognized driving situation and determining that the driving state of the vehicle has changed from the first state to the second state based on the detected operation. The step of controlling the current applied to the disk is Changing the current applied to the disk from the first current value to the second current value based on the change of the driving state of the vehicle from the first state to the second state. Control method of a steering device of a vehicle.

15. According to claim 14, The step of controlling the current applied to the disk is Receiving the rotation information of the steering module detected in the second state; and Controlling the magnitude of the second current value to be different based on the received rotation information so that the degree of change of the rotational torque value of the steering module changes. Control method of a steering device of a vehicle.

16. According to claim 15, The rotation information includes the rotation angle information of the steering module. The step of controlling the current applied to the disk is According to the rotational angle information detected in the second state, stepwise changing the magnitude of the second current value applied to the disk, characterized in that. A control method for a steering device of a vehicle.

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