KR100767185B1 - Compensating installation for steering angle of car and method thereof - Google Patents

Abstract

An apparatus and a method for compensating for a steering angle of a vehicle are provided to calculate and compensate for an error of the steering angle by detecting the steering angle of the vehicle through a steering angle sensor part. An apparatus for compensating for a steering angle of a vehicle comprises a steering wheel angle sensor(307), a steering angle sensor part(315), an ECU(Electronic Control Unit,301), a memory(301), and an interface(311). The steering wheel angle sensor detects the steering angle of a steering handle. The steering angle sensor part is mounted with a rack and pinion(313) to detect the steering angle of the vehicle. The ECU calculates an error on the basis of the steering angle information and withdraws the compensating angle of the rack and pinion. The memory stores the motor control information for driving the rack and pinion. The interface is connected to an output port of the control part to provide the motor with the rating signal.

Description

Vehicle steering angle correction device and method {COMPENSATING INSTALLATION FOR STEERING ANGLE OF CAR AND METHOD THEREOF}

1 is a view showing a conventional rack-driven steering device.

2 is a view showing a conventional electric steering device.

3 is a block diagram showing a steering angle correction device according to the present invention.

4 is a view for explaining the position of the steering wheel angle sensor according to the present invention.

5 is a view for explaining the rack and pinion according to the present invention.

FIG. 6 is a view for explaining a position of a steering angle sensor applied to FIG. 5.

<Explanation of symbols for main drawings>

301: control unit 303: memory

305: steering wheel 307: steering wheel angle sensor

309: display panel 311: interface

313 rack and pinion 315 steering angle sensor

The present invention relates to steering angle correction of a vehicle, and more particularly, to determine a steering wheel position and to detect a steering angle from a flow state of a rack and pinion to calculate and correct a deviation of a steering angle corresponding to a displacement of a steering wheel. The present invention relates to a vehicle steering angle correction device and method that can be used.

In general, a vehicle is provided with a steering device for adjusting the driving direction of the vehicle. The steering device is a device that allows the driver to rotate the steering wheel located in the driver's seat to the left or right to face the direction in which the front wheel will proceed. These steering systems include oil-based hydraulics (EHPAS) and electric motors (EPAS: Electric Power ASsisted). In the hydraulic type, the power pump generates hydraulic pressure by a power generating unit that pumps fluid by the power of the engine, and sends hydraulic pressure in a steering direction when the driver turns the steering wheel to make the handling lighter.

On the other hand, the electric power steering device is a steering shaft auxiliary electric steering boosting device that improved the steering power (handle operating capacity) by using an electric motor. Unlike the existing hydraulic steering power distribution device (a device that distributes the engine power when changing the vehicle's direction), the electric motor is automatically controlled according to the driving conditions, thereby greatly improving the steering performance and the steering feeling. Column driving, pinion driving and rack driving are divided according to the driving force (motor attachment position), and the basic operation principle is the same.

1 is a block diagram of a conventional rack-driven steering apparatus. As shown in FIG. 1, the ECU (Electronic Control Unit) detects the vehicle speed, the steering direction, and the steering torque by the torque sensor 105 mounted on the vehicle speed sensor and the pinion shaft 103, respectively. It rotates a motor (not shown) attached to the: 106 to give direct driving force to assist the steering operation, and has various fail safe functions. When the steering wheel 101 is operated, the pinion shaft 103 is turned while being subjected to rotational force. Torque sensor 105 provides a torque signal (Torque signal) to the ECU to give the torque information, the ECU 104 receives the vehicle speed information of the vehicle speed sensor to generate a current to generate the optimum drive torque through a motor (not shown) Generate. The ECU 104 causes a large amount of current to flow at low speed to lighten the steering force, moderately lightly through the current control at medium speed, and cuts off the current at high speed to eliminate steering assistance by a motor (not shown). Compared to engine speed-sensitive hydraulic power steering, it is possible to control much finer steering force depending on the steering situation.

2 is a block diagram of a conventional electric power steering apparatus. As shown, the steering column connected to the steering wheel for adjusting the rotation direction of the tire, the motor 13 connected to the steering column, the reducer 14 connected to the motor 13, and the tire 10 The fixed part 11 provided in the front part or the rear part of the wheel with respect to the rotation point 10a, the pair of link parts 12 connected to one end part of each fixing part 11, and the motor 13 of the It is composed of a control unit for controlling the rotation speed and rotation angle.

Here, the controller is preferably implemented as an ECU (Electronic Control Unit) that functions to control the operation of the vehicle based on the detection signals of the various sensors provided in the vehicle. One end of the reducer 14 is connected to the motor 13, and both link portions 12 are connected to the plate surface of the other end. The reducer 14 is a device that generates a large torque by reducing the speed, that is, the number of revolutions, and a description of the specific structure is omitted. An end portion of the reducer 14 to which the link portion 12 is connected has a circular plate shape, and both link portions 12 are connected to positions symmetrical in diameter on the circular plate surface according to the present invention.

The fixing part 11 is provided at the rear of the wheel based on the pivot point 10a of the left tire and at the front of the wheel based on the pivot point 10a of the right tire. And the link part 12 is connected to the fixing part provided in the wheel rear part of the left tire, and the fixing part 11 provided in the wheel front part of the right tire, respectively. At this time, when the tire 10 is in the normal position facing the front, the line connecting the connection point connected to the pair of link portions 12 on the circular plate surface of the reducer 14 is connected to the pivot point 10a of the left and right tires. When the reducer 14 and the link unit 12 are connected to form a predetermined angle with respect to the connected line, the vehicle can be rotated by effectively pulling the lower region or the upper region of the tire when the motor rotates.

When the steering wheel is rotated to the left or to the right, the driving force of the motor 13 is transmitted to the wheel of the tire 10 with the motor 13 installed in the center as the axis. The driving force generated in the motor 13 is generated by the following process. When the steering wheel is rotated, the ECU 8 generates a control signal for input values by the vehicle speed sensor 6, the steering angle sensor unit 8, and the power source attached to the speedometer in the clutch, and the control signal of the ECU 9 By this, the rotational speed of the motor 13 is controlled and the driving force of the reducer 14 connected to the motor 13 is controlled. Accordingly, when the reducer 14 rotates according to the left turn or the right turn of the steering wheel, the link part 12 moves in the rotational direction, and accordingly, the lower and right tires of the left tire 10 connected to the link part 12 are rotated. The lower part of the tire 10 is pulled or pushed so that the tire 10 is inclined to the left or right, and steering is made.

As described above, the electric power steering device or the hydraulic steering device performs steering control by controlling the motor or the hydraulic pressure so as to correspond to the operation of the steering wheel. However, since the steering assist characteristics change depending on the ambient temperature, the steering apparatus does not coincide with the operating range of the steering wheel and the actual steering angle, or always maintains an error within a predetermined range. In particular, the steering angle of the steering wheel that can be viewed by the driver due to uneven wear of the tire, steering of the steering wheel, and the steering angle of the vehicle are different, resulting in a problem of impairing the driver's safety.

The present invention was created to solve the above problems, and an object of the present invention is to recognize the alignment state of the vehicle wheel, the steering angle correction apparatus and method of the vehicle that can ensure the stability of the operation by notifying the driver of the alignment state In providing.

Another object of the present invention is to detect the steering angle of the steering wheel and the steering angle of the actual vehicle, calculate the steering deviation based on the detection result and correct it, thereby preventing problems such as tire wear and steering wheel steering. A steering angle correction apparatus and method are provided.

An apparatus for correcting a steering angle of a vehicle according to a first aspect of the present invention for achieving the above object, comprising: a steering wheel angle sensor for detecting a steering angle of a steering wheel; A steering angle sensor unit mounted to the rack and the pinion according to the steering mechanism of the vehicle to detect a steering angle of the actual vehicle; Calculating a deviation based on steering angle information detected by the steering wheel angle sensor unit and steering angle information detected by the steering angle sensor unit, and extracting correction angles of the rack and pinion to correspond to the deviation. Control unit; A memory connected to an input / output terminal of the controller to store correction angle information of the rack and pinion for the deviation, and to store motor control information for driving the rack and pinion to correspond to the correction angle information; And an interface connected to an output port of the controller to provide a rated signal to the motor according to the motor control information.

According to a preferred embodiment of the present invention, the deviation is a steering angle change amount of a wheel with respect to a steering angle of the steering wheel, or a steering angle change amount of a steering wheel with respect to a steering angle of the wheel.

Meanwhile, a method for correcting a steering angle of a vehicle according to a second aspect of the present invention for achieving the above object includes: a) detecting a steering wheel angle from a steering hand of a vehicle; b) detecting the steering angle of the wheel from the rack and pinion of the vehicle corresponding to the steering wheel angle of step a); c) calculating a deviation from the steering angle detected in steps a) and b) based on the steering ratio of the vehicle; d) extracting correction angles of the rack and pinion in response to the angle of the steering wheel based on the deviation; And e) controlling a motor for driving the rack and pinion according to the correction angle.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. First, the present invention attaches a dual sensor between the steering wheel, the rack and the pinion as the actual driving part, and calculates a deviation from each sensor part based on the steering angle of the steering wheel and the steering angle by the movement trajectory of the rack (or pinion). do. The calculated deviation is notified to the driver to prevent driving accidents caused by steering deviations. In addition, the aforementioned deviation is applied to correct the steering angle of the steering apparatus.

3 is a system configuration diagram illustrating a steering angle correction device according to an embodiment of the present invention. As shown, the steering wheel angle sensor 307 for detecting the steering angle of the steering wheel 305 of the vehicle and the rack and pinion 313 according to the steering mechanism of the vehicle are mounted to detect the actual steering angle of the vehicle. A deviation is calculated based on the steering angle sensor unit 315 and the steering angle information detected by the steering wheel angle sensor unit 307 and the steering angle information detected by the steering angle sensor unit 315. And a control unit 301 for extracting a correction angle of the rack and pinion 313 to correspond to the deviation, and connected to an input / output terminal of the control unit 301 to store correction angle information of the rack and pinion for the deviation. And a memory 303 for storing motor control information for driving the rack and pinion 313 so as to correspond to the correction angle information, and connected to an output port of the controller 301 according to the motor control information. It comprises a interface (311) for providing a signal to the rated motor group.

The correction angle information of the rack and pinion for the deviation is arithmetic information according to the mutual rotation ratio of the steering angle of the steering handle 305 and the steering angle of the rack and pinion 313 or based on an experimental basis considering a predetermined error. It may be defined information.

The controller 301 may be linked with the display panel 309 for notifying the driver of the correction angle information or the deviation information. The display panel 309 is provided on the instrument panel in front of the driver to provide numerical information or graphic information.

Hereinafter, an operation according to an embodiment of the present invention will be described.

First, the controller 301 detects a rotation angle of the steering wheel 305 from the steering wheel angle sensor unit 307. The steering wheel angle sensor unit 307 is composed of a sawtooth-shaped rotor extending on the steering shaft in cooperation with the steering handle 305, and a photodiode for measuring the number of teeth according to the rotation angle of the rotor. The steering wheel angle sensor unit 307 is a known technique, but through the Figure 4 to help understand.

As shown in FIG. 4, the steering wheel angle sensor unit 307 described above includes a sawtooth rotor 401, a photodiode 404 including a light emitting unit 402 and a light receiving unit 403. The rotor 401 cooperates with the steering handle 305 and includes a plurality of teeth evenly distributed. A number of teeth is counted by the photodiode 404 upon rotation of the steering handle 305. Here, the steering wheel angle sensor unit 307 detects the teeth generated by the rotation of the steering wheel 305 as a predetermined pulse signal. The detection signal is applied to the controller 301.

The controller 301 sets the initial position, for example, the state in which the steering wheel 305 is rotated to the left side, and counts the amount of the steering wheel 305 rotating to the right using the teeth. The steering wheel angle sensor unit 307 detects the saw tooth using the photodiode 404, and converts the detected signal into a standardized pulse signal and outputs it. Accordingly, the controller 301 counts the pulse signal of the steering wheel angle sensor unit 307 to recognize the position of the steering wheel 305.

5 and 6 are a steering angle control device for explaining the steering angle sensor unit 315. As shown in FIG. 5, the steering angle adjusting device includes a drawing length control unit 505 fixed to an end of the operation cylinder 501 and a fixed state fixed to the end of the rack bar 511. It comprises a 1,2 fixing rings (515, 503). The draw-out length control unit 505 receives the second fixing ring 503 therein when the rack bar 511 enters the operation cylinder 501 in the direction of arrow a, and the thickness of the second fixing ring 503 is received. To determine whether to increase the access distance of the rack bar 511 as much as possible or not to enter less than the thickness, it comprises a drive motor (not shown), a plurality of gears, a rotary stopper and a detector.

On the other hand, Figure 6 is a view for explaining the steering angle sensor unit 315 mounted by the steering angle control device. Referring to the drawings, the PCB 603 is installed on the upper part of the motor 601, and the driving shaft of the motor 601 passes through the PCB 603 and is coupled with the driving gear 605 on the PCB 603. have. In addition, the side of the drive gear 605 is provided with a shaft projection (607) for rotatably supporting the intermediate gear (619).

The shaft projection 607 rotates from the driving gear 605 by seating the intermediate gear 619. The intermediate gear 619 rotates the rotary stopper 615, and the rotary stopper 615 includes a plurality of teeth on its outer circumferential surface. The saw tooth is provided with a detection sensor 611 for counting the teeth according to the rotation of the rotary stopper 615 at a position spaced a predetermined distance. Accordingly, the operation of the motor 601 rotates the drive gear 605, and the drive gear 605 rotates the intermediate gear 619 and the rotation stopper 615, respectively.

The rotation of the rotary stopper 615 transfers the teeth 613 in the rotational direction, and the detection sensor 611 continuously detects the rotation state of the teeth. The detection sensor 611 may be a proximity sensor for recognizing a proximity state of an object. The detection sensor 611 may also set the tooth 613 in the maximum rotation state of the rotation stopper 615, for example, in a state in which it is rotated to the left as much as the reference position. Then, from this reference position, the rotational state of the rotation stopper 615, for example, the amount (number of teeth) rotated in the right rotation direction is detected.

The signal detected by the detection sensor 611 is converted into a pulse signal shaped by the steering angle sensor unit 315 and then applied to the control unit 301. Accordingly, the control unit 301 detects a transfer state of the rack and pinion 313 driven by the motor 601. Here, the steering angle information detected by the steering angle sensor unit 315 and the steering angle information detected by the steering wheel angle sensor unit 307 are different according to the steering ratio of the vehicle. The controller 301 recognizes such a steering ratio of 18: 1 (vehicle performance, for example, AFS-equipped vehicle 10: 1 to high speed 20: 1), and thus steering the steering angle of the current steering wheel and the steering angle of the wheel. Determine if the ratio is maintained.

For example, when the value detected by the steering wheel angle sensor unit 307 is 180 degrees (substantially determined by the number of teeth of the rotor 401), the value detected by the steering angle sensor unit 315 is 10 degrees. (Substantially determined by the number of teeth 613 of the rotary stopper 615). As a result of the determination by the controller 301, when the steering angles of the steering handle 305 and the rack and the pinion 313 are detected according to the steering ratio, that is, the controller 301 is a normal value, the controller 301 displays the display panel 309. Notify that the status is normal.

On the other hand, the steering ratio of the steering wheel angle value detected by the steering wheel angle sensor unit 307 and the wheel angle value detected by the steering angle sensor unit 315 is a preset steering result. When the ratio is different from the ratio, the controller 301 calculates a deviation between the steering wheel angle value and the wheel angle value. The deviation may be calculated as the steering angle change amount of the wheel with respect to the steering angle of the steering wheel, or may be calculated as the steering angle change amount of the steering wheel with respect to the steering angle of the wheel. For example, when the steering wheel is rotated 180 degrees and the steering angle of the wheel is rotated 2 degrees, it is calculated as 200% (200% increase based on 1 degree of steering angle of the normal wheel-a percentage of 2/1) When the steering wheel rotates 170 degrees, the steering angle of the wheel rotates 1 degree, that is, 180: 1 = 170: X, X = 0.94, the steering angle of the wheel is 0.94 rotation when the steering wheel rotates 170 degrees At the moment, the steering angle of the current wheel is rotated by 1 degree, yielding a 106% percentage of 1 / 0.94 (1.06). The result of the calculation is notified to the driver through the display panel 309.

In addition, if the steering angle of the wheel rotates 2 degrees when the steering wheel rotates 170 degrees, as described above, the steering angle of the wheel should rotate 0.94 degrees, but the steering angle of the current wheel is rotated 2 degrees to 2 / 0.94 (2.12) It is calculated as a percentage of 212% for. On the other hand, when the steering wheel is rotated 190 degrees, the steering angle of the wheel rotates 1 degree when the steering wheel is rotated 190 degrees. In the normal steering, the steering angle of the wheel is 1.05 degrees. It should rotate, but currently rotates 1 degree, yielding 95% as 1 / 1.05 (0.95). Here, the deviation with respect to the described percentage is calculated by the same steering ratio regardless of the vehicle type, but if the steering ratio is changed by the option function of the vehicle, it will be possible to adjust the deviation.

The controller 301 calculates a deviation based on the result detected from the steering wheel angle sensor unit 307 and the steering angle sensor unit 315. The controller 301 extracts correction angle information corresponding to the deviation from the memory 303. The correction angle information is a correction angle of the rack and pinion 313 corresponding to the deviation. For example, if the deviation is expressed as a percentage, the rotation ratio of the rack and pinion 313 should be reduced by 1 degree when the deviation is 200%, and when the deviation is 95%, the rotation ratio of the rack and pinion 313 is 0.05. Should also be increased. Accordingly, the correction angle is numerical information for varying the rotation ratio of the rack and pinion 313.

In addition, the memory 303 includes correction angle information, and includes control information of the motor 601 corresponding to the correction angle. The control information is a drive signal of the motor 601 according to the correction angle, and the control unit 301 extracts control information for driving the motor from the memory 303 and provides it to the interface 311. The interface 311 is converted into a rated power for operating the motor 601 based on the control information and supplied to the motor 601.

Accordingly, the controller 301 corrects the rack and pinion 313 by the steering deviation in accordance with the steering angle of the steering handle 305, so that steering correction of the wheel is performed in real time regardless of the steering deviation change.

As described above, the steering angle correction apparatus and method of the vehicle according to the present invention detects the steering angle of the steering wheel and the steering angle of the rack and pinion 313, calculates the deviation based on the reference steering ratio, and corresponds to the deviation By extracting the correction angle of the rack and pinion, the steering ratio is changed in accordance with the driving state or the road surface state of the vehicle to correct it in real time, thereby improving the driving environment.

In addition, the present invention can prevent driving problems such as uneven wear of the tire and steering of the steering wheel to promote safe driving, and also notify the driver of the steering deviation, thereby preventing the driver's mistake during initial operation.

What has been described above is merely an embodiment of the present invention, and is not limited to the embodiment of the present invention, and as claimed in the following claims, without departing from the gist of the present invention, the ordinary knowledge in the field to which the invention belongs. Anyone having the technical idea of the present invention to the extent that various modifications can be made.

Claims (9)

An apparatus for correcting the steering angle of a vehicle, A steering wheel angle sensor for detecting a steering angle of the steering wheel; A steering angle sensor unit mounted to the rack and the pinion according to the steering mechanism of the vehicle to detect a steering angle of the actual vehicle; Calculating a deviation based on steering angle information detected by the steering wheel angle sensor unit and steering angle information detected by the steering angle sensor unit, and extracting correction angles of the rack and pinion to correspond to the deviation. Control unit; A memory connected to an input / output terminal of the controller to store correction angle information of the rack and pinion for the deviation, and to store motor control information for driving the rack and pinion to correspond to the correction angle information; And An interface for providing a rated signal to the motor according to the motor control information connected to an output port of the controller, And the deviation is a steering angle change amount of the wheel with respect to the steering angle of the steering wheel. delete The method of claim 1, wherein the deviation is And a steering angle change amount of the steering wheel with respect to the steering angle of the wheel. The method of claim 1, wherein the control unit, And a display panel for notifying the driver of the correction angle information or the deviation information. The display panel of claim 4, wherein the display panel includes: A steering angle correction device for a vehicle, which is provided on an instrument panel in front of a driver and provides digitized information or graphic information. In the method for correcting the steering angle of the vehicle, a) detecting a steering wheel angle from a steering hand of the vehicle; b) detecting the steering angle of the wheel from the rack and pinion of the vehicle corresponding to the steering wheel angle of step a); c) calculating a deviation with respect to a steering angle which is a steering angle change amount of the wheel with respect to the steering angle detected in the steps a) and b) based on the steering ratio of the vehicle; d) extracting correction angles of the rack and pinion in response to the angle of the steering wheel based on the deviation; And and e) controlling a motor for driving the rack and pinion according to the correction angle. delete The method of claim 6, wherein the deviation is, And a steering angle change amount of a steering wheel with respect to a steering angle of the wheel. The method of claim 6, and f) notifying the driver of the deviation information or the correction angle information.

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