KR101527132B1 - Adjusting apparatus and method for steering force according to driver's patterns - Google Patents

Abstract

The present invention relates to an apparatus and method for adjusting an auxiliary force according to a driver pattern of a vehicle equipped with an electronic steering system, and more particularly, to an apparatus and method for adjusting an auxiliary force in an MDPS system, will be.
To this end, the present invention provides an apparatus for adjusting an auxiliary force of an MDPS system, comprising: an input value generation unit for detecting a steering angular velocity and a steering torque applied to a steering wheel by a driver by adjusting a steering wheel direction from a steering sensor; The average steering angular velocity and the average steering torque value are calculated and stored by the steering angular velocity and the steering torque value detected by the generator, and the MDPS is operated when the driver is requested to adjust the steering feeling in the state where the vehicle is starting and not running And an engine control unit for re-operating the MDPS by setting a gain to be reflected in the steering force adjustment according to the operation pattern of the classified driver by classifying the driving pattern of the driver based on the average stored steering angular speed value and the average steering torque value after stoppage The auxiliary force adjusting device according to the driver pattern is provided, Force to enable the operator-friendly control.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an auxiliary power adjusting apparatus and method,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus and method for adjusting an auxiliary force in accordance with a driver pattern in a motor-driven steering system (hereinafter abbreviated as MDPS) By analyzing the driver's pattern and adjusting the assist force of the MDPS suitable for the driver according to the analyzed driving pattern, it is possible to control the driving force according to the driver pattern of the vehicle equipped with the electronic steering system which enables driver- And an auxiliary force adjusting device and method.

Generally, a steering apparatus for adjusting the running direction of a vehicle is provided with a substantially automatic power steering apparatus. The power steering apparatus includes a hydraulic pressure system using hydraulic pressure and an MDPS Motor Driven Power Steering).

The MDPS system is more environmentally friendly since it does not use oil, and it is widely used in recent years because it reduces fuel consumption and improves workability due to the elimination of a hydraulic line.

The operation flow of the MDPS steering apparatus calculates a target current for obtaining an appropriate steering feeling from the detected torque, vehicle speed, and steering angle detected information from the torque sensor, the vehicle speed sensor, and the motor position sensor, The target current is applied to the motor to drive the motor to perform steering.

However, if the torque to turn the steering wheel is fixed once, there is a disadvantage that the steering torque, that is, the port is not changed in steering, and the port is fixed to the steering, There is a problem that it is difficult to accommodate the demand. In other words, the desired steering feeling is different for each customer, and the vehicle is sold with different steering feeling tuning considering the road condition and the terrain according to each region. However, in the same area, a female driver wants a light steering feeling depending on the purpose of the driver, In the case of the driver, since it wants the movement of the sport, there is a limitation in controlling the port effect in every tendency of the customer.

In addition, there is a disadvantage in that it takes time and expense to adjust the steering force, that is, the ePort effect, through a separate maintenance work.

In this regard, in Korean Patent Laid-Open No. 10-2003-0073527 (published on September 19, 2003), the magnitude of the steering assist force is appropriately increased or decreased according to the vehicle speed without depending on the sensor and the electronic control unit And a vehicle-speed-responsive power steering apparatus for an automobile.

According to Patent Document 1, a mechanical structure for suppressing the rotation of the steering column by friction between the movable disk on the steering column side and the fixed disk on the housing side fixed in position by the negative pressure of the vacuum pump driven by the drive shaft In the low speed region, the steering force is assisted by the power steering apparatus, and in the high speed region, the mechanical structure interferes with the rotation of the steering column, so that a proper steering feeling can be obtained.

In addition, Korean Patent Laid-Open No. 10-2012-0128323 (published on Nov. 27, 2012, hereinafter abbreviated as 'Patent Document 2') is designed to allow a driver to select a steering force suitable for a driver's preference according to a sport mode and a comfort mode A driver-selectable steering-force varying device and a control method thereof are disclosed.

According to Patent Document 2, there is provided an operator-selectable steering force varying device including a torque sensor for sensing a torque applied to a steering wheel, and a motor for transmitting a steering force of a steering wheel, And an ECU in which a plurality of motor current maps for respective user modes are stored. The ECU, which receives the signal of the user mode selection switch, can control the motor current according to the corresponding motor current map, By separately tuning, it is possible to choose among various modes such as standard mode, sport mode, comfort mode, etc., so that the customer can satisfy the port effect in the steering desired.

Korean Patent Laid-Open Publication No. 10-2013-0056426 (published on May 3, 2013, hereinafter abbreviated as "Patent Document 3") discloses a vehicle according to a road surface which improves the driver's sense of steering on an unstable road surface, A steering angle control apparatus and a steering angle control method are disclosed.

According to Patent Document 3, a vehicle state sensor unit for detecting the state of the traveling vehicle at the time of road driving, a road surface judgment unit for receiving the information of the traveling vehicle sensed by the vehicle state sensor unit and determining the road surface state of the road, And a steering control unit for controlling the steering force of the steering wheel by summing the compensation torque value calculated by the road surface discrimination unit with the steering torque value so as to improve steering satisfaction by implementing a strong steering feeling on an unstable road surface, .

However, according to this conventional technique, there are many logic and parameters for the MDPS in order to match the steering feeling, but since each parameter is already fixed when it is shipped from the factory, There is a disadvantage in that the driver does not perform driver-friendly auxiliary power adjustment after delivery according to the driving pattern of the driver.

Therefore, there is a need for a technique that enables driver-friendly steering control to be performed in accordance with driver characteristics by patterning and analyzing the tendency of each driver according to various drivers.

KR 10-2003-0073527 A 2003.09.19 Released KR 10-2012-0128323 A KR 10-2013-0056426 A 2013.05.30 Released

SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-mentioned problems of the prior art, and it is an object of the present invention to provide an apparatus and method for analyzing patterns of a driver in an MDPS system and adjusting an auxiliary force of an MDPS And an auxiliary force adjusting device and method according to a driver pattern of a vehicle equipped with an electronic steering system which enables driver-friendly control with an adjusting force specialized for each driver.

According to an aspect of the present invention, there is provided an apparatus for adjusting an assist force of an MDPS system, comprising: a steering angle sensor for detecting a steering angle and a steering torque applied to a steering wheel by a driver adjusting a steering wheel direction, An average value of the steering angular velocity and an average steering torque value are calculated and stored based on the steering angular velocity and the steering torque value detected by the input value generation unit and stored in the storage unit, If there is a request to adjust the steering angle, the average steering angular velocity and the average steering torque value after the stop of operation of the MDPS are inputted, and the operation pattern of the driver is classified and the gain to be reflected in the steering force adjustment is set according to the classified driving pattern And an engine control unit for restarting the MDPS, It is.

According to another aspect of the present invention for attaining the above object, there is provided a method of adjusting an assist force of an MDPS, comprising the steps of: (a) when the driver is requested to adjust the steering feeling in a state in which the vehicle is starting, The average steering angle value and the average steering torque value after stopping the MDPS, (b) analyzing the average steering angular speed value and the average steering torque value inputted in the first step, and classifying the driving pattern of the driver A second step of determining the driver's propensity and risk level according to the driving pattern of the classified driver and the main driving road, and (c) the driver's propensity and risk level determined in the second driving step and the gain to be reflected in the steering force adjustment according to the main driving road And a third step of re-activating the MDPS by setting the driver's pattern.

According to the present invention, the assistant force of the MDPS system suitable for the driver can be adjusted according to the pattern of the driver and the analyzed operation pattern, so that the driver-friendly steering force control can be performed in accordance with the operation pattern of each driver having various characteristics .

FIG. 1 is a block diagram illustrating an essential part of an MDPS system equipped with an auxiliary force adjusting device according to a driver pattern of the present invention.
FIG. 2 is an operational flowchart illustrating a process in which an assist force adjustment method according to a driver pattern of the present invention is mounted on an MDPS system and processed.
3A and 3B are reference flowcharts illustrating a process of classifying a hierarchy according to an average steering angle velocity value and an average steering torque value to set an operator pattern and an assist power gain to be reflected in the auxiliary power assist device according to the present invention .

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the structure and overall operation of an auxiliary force adjusting apparatus and method according to a driver pattern according to the present invention will be described in detail with reference to the accompanying drawings.

It is to be understood that the words or words used in the present specification and claims are not to be construed in a conventional or dictionary sense and that the inventor can properly define the concept of a term in order to describe its invention in the best possible way And should be construed in light of the meanings and concepts consistent with the technical idea of the present invention. Therefore, it should be understood that the embodiments described herein and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and that various equivalents and modifications may be substituted for them at the time of the present application shall.

FIG. 1 is a block diagram exemplifying an essential part of an MDPS system in which an auxiliary force adjusting device according to a driver pattern is mounted according to an embodiment of the present invention. As illustrated in the drawing, The auxiliary force adjusting device according to the present invention can be applied to a vehicle employing the MDPS system 100 and comprises an input value generating unit 110 and an engine control unit 120. The engine control unit 120 may be implemented in a form including a storage unit 121 and a steering force adjustment unit 122.

The input value generating unit 110 generates a steering angle of the steering wheel 1 and the steering wheel 1 between the mechanism constituted by the steering wheel 1 and the steering rack 2 and between the gear box 3 and the motor 4 by adjusting the direction of the steering wheel 1. [ And detects the steering angular velocity and the steering torque applied to the wheel 1 from a torque-angle sensor and transmits the detected steering angular velocity and the steering torque to the engine control unit 120.

The engine control unit 120 calculates the average steering angular velocity value and the average steering torque value from the steering angular velocity and the steering torque value detected by the input value generation unit 110 (the average value is programmed to calculate each average value at a preset time or at a constant cycle If it is determined that the vehicle is starting and the vehicle is not running, the operation of the MDPS is stopped (for example, the determination and processing of the situation in which the auxiliary power adjustment is possible) , The stored average steering angular velocity value and the average steering torque value to classify the driver's operation pattern and set the gain to be reflected in the steering force adjustment according to the driver's operation pattern to perform a series of operations to restart the MDPS. For this operation process, the engine control unit 120 may include the storage unit 121 and the steering force adjustment unit 122 separately.

The storage unit 121 stores the average steering angular velocity value and the average steering torque value calculated from the steering angular velocity and the steering torque value detected by the input value generation unit 110. [

The steering force adjustment unit 122 calculates the average steering angular velocity value and the average steering torque value at predetermined time intervals or at predetermined intervals as the steering angular velocity and the steering torque value detected by the input value generation unit 110 and stores the average steering angular velocity value and the average steering torque value in the storage unit 121 The control unit 100 determines whether there is a request for steering feeling adjustment by the driver in a state where the vehicle is started and is not running, stops the operation of the MDPS, receives the average steering angular velocity value and the average steering torque value from the storage unit 121, And the driver's tendency and risk level and the main driving road according to the driving pattern of the classified driver are judged to be reflected in the steering force adjustment for driving the motor according to the driver's propensity and danger degree and the main driving road Set the gain to perform and play a series of roles to reactivate the MDPS.

At this time, the steering force adjustment unit 122 confirms whether or not there is a steering feeling adjustment request by the driver in the state where the vehicle is started, and if the steering feeling adjustment is requested, If it is determined that the vehicle is not running, the MDPS operation is stopped to adjust the assist force of the MDPS, and then the stored average steering angular velocity value and the average steering torque value are inputted.

Then, the steering force adjustment unit 122 analyzes the average steering angular velocity value and the average steering torque value received from the storage unit 121, classifies the driving pattern of the driver into one or more groups according to the analysis result, The driver's tendency is estimated according to the pattern, and the degree of danger and the main driving road are judged according to the driver's tendency. Here, the steering force adjusting unit 122 groups the average steering angular velocity value and the average steering torque value according to the reference table defining the steering angular velocity value and the steering torque value into at least one group, respectively, and classifies the driver's driving pattern. The reference table to be used at this time is configured to classify the average steering angular velocity value and the average steering torque value into first, second, and third groups according to the inputted steering angular velocity value, And has a value defined by dividing the hierarchy into upper, middle, and lower groups in accordance with the steering torque value in the group. For example, if the reference table is used, the operation patterns classified according to the input values are nine patterns from the total pattern 1 to the pattern 9, and the upper / lower, upper / middle, and upper The details of the reference table values can be classified into two categories as shown in the following Table 1, the left side of Table 2, the left side of Table 2, the left side of Table 2, It is illustrated in the column and the third column.

Pattern classification Input value calculation
Average Steering
Angular velocity Steering
talk Driver propensity danger
Degree adjustment Driving
road adjustment One

Prize Ha High-speed driving Many coarse molds Very dangerous 0.97 highway 0.99 0.980 2 medium General Driving Many rough types danger 0.99 General road One 0.995 3 Prize Low speed driving Many rough types Somewhat dangerous 0.98 City road 1.01 0.995 4
medium Ha High-speed driving Many standard types danger 0.99 highway 0.99 0.990 5 medium Most common type common 1.00 General road One 1,000 6 Prize Many low speed driving type safety 1,01 City road 1.01 1.010 7

Ha Ha High-speed operation Somewhat dangerous 0.98 highway 0.99 0.985 8 medium General Driving Many Pole Types safety 1.01 General road One 1.005 9 Prize Low-speed operation Very safe 1.02 City road 1.01 1.015

Subsequently, the steering force adjustment unit 122 adjusts the driver's tendency according to the driver's driving pattern according to the driving pattern of the driver classified by the reference table (Patterns 1 to 9) by the inclination table that defines the tendency of the driver corresponding thereto . The tendency table used at this time has a value defining the driver-specific tendency of the classified operation pattern. For example, in the case of using such a tendency table, the driver tendency can be classified into four types according to the operation pattern 1 to pattern 9: rough type having high speed operation, rough type having general operation, rough type having low speed operation, It can be assumed that it is a general type, a general type having a low speed operation, a negative type having a high speed operation, a negative type having a lot of operation and a non-type having a low speed, Are illustrated.

Subsequently, the steering force adjustment unit 122 determines the degree of danger and the main driving road according to the driver's propensity by the judgment table which defines the degree of danger corresponding to each driver's propensity respectively estimated by the propensity table and the major traveling road. The judgment table used in this case has a value defining a danger degree by the estimated driver's propensity, a main driving road judgment value, and a steering gain to be reflected on each judgment result thereof. For example, if the judgment table is used, the degree of danger may be judged to be very dangerous, dangerous, somewhat dangerous, ordinary, safety, very safe, etc., and the main driving road is judged as a highway, And these judgment table values are illustrated in the fifth to eighth columns in the center in Table 1 above.

Lastly, the steering force adjustment unit 122 reflects the degree of danger according to the driver's tendency and the adjustment of the steering force according to the main driving road by the adjustment table that defines the danger level determined by the judgment table and the adjustment value corresponding to each of the major driving roads Set the gain to re-start the MDPS. The adjustment table used at this time has a value defining a danger degree according to the determined driver propensity and an adjustment gain value to be reflected on the main driving road determination result. In the case of using this adjustment table, for example, the adjustment gain can be defined as the average of the danger level adjustment and the travel road adjustment. These adjustment table values are illustrated in the rightmost ninth column of Table 1 above.

FIG. 2 is a flow chart illustrating a process in which an auxiliary force adjusting method according to a driver pattern of the present invention is mounted and processed in an MDPS system, wherein an auxiliary force adjusting method of an MDPS according to the present invention comprises steps (a) Step (c).

The first step (a) is a step of receiving the average steering angular velocity value and the average steering torque value after determining and processing the situation where the assist force adjustment of the MDPS is possible when there is a steering feeling adjustment request by the driver.

In step S101, it is determined whether there is a request for steering feeling adjustment by the driver in the state where the vehicle is started. In step S101, (Step S102); stopping the operation of the MDPS in order to adjust the assisting force of the MDPS when the vehicle is not in the running state (N in step S102) (S103) and receiving the stored average steering angular velocity value and average steering torque value after stopping the operation of the MDPS (S104).

Although the first step (a) of such a configuration is not shown in the drawing, the steering angle sensor and the steering torque applied to the steering wheel by the driver adjusting the steering wheel direction are detected from the steering sensor TAS, And calculating and storing the average steering angular velocity value and the average steering torque value per cycle.

The second step (b) classifies the driving pattern of the driver by analyzing the average steering angular speed value and the average steering torque value inputted in the first step, and calculates the driver's tendency and the degree of danger according to the driving pattern of the classified driver, It is a step to judge a road.

The second step includes analyzing the average steering angular velocity value and the average steering torque value input in the first step and classifying the driving patterns of the driver into one or more groups according to the analysis result (S 105) Estimating a driver's propensity according to an operation pattern (S106), and determining a degree of danger and a main road according to the estimated driver's propensity (S107). In the driver pattern classifying step (S105), the average steering angular velocity value and the average steering torque value are grouped by a reference table defining the steering angular velocity value and the steering torque value by one or more groups, respectively, The reference table is used to firstly divide the steering angular velocity values into upper, lower, and lower groups, respectively. In the respective groups of the steering angular velocity values, the steering torque values are divided into upper, lower, And has a table value defined by a difference.

Also, in the driver tendency estimation step S106, the driver tendency according to the classified driving patterns is estimated based on the tendency table that defines the tendency of the driver corresponding to each of the driving patterns of the drivers grouped by the reference table, In addition, in step S107 of determining the degree of danger and the main driving road, the degree of danger according to the estimated driver's propensity is determined according to a driver's tendency estimated by the propensity table, Judge the main roads.

The third step (c) includes a step S108 of setting the gain to be reflected in the steering force adjustment according to the driver tendency and the risk degree determined in the second step and the main travel road, and the step of restarting the MDPS (S109) . Here, the risk level for each driver tendency and the gain to be reflected in the steering force adjustment according to the main driving road are set by the adjustment table that defines the danger level determined by the judgment table and the adjustment value corresponding to each of the major driving roads, Adjust the steering force and restart the MDPS.

3A and 3B are reference flowcharts illustrating a process of classifying a hierarchy according to an average steering angle velocity value and an average steering torque value to set an operator pattern and an assist force to be reflected in the assist force auction apparatus according to the present invention 3A, when the average steering angle velocity value and the average steering torque value are inputted at 180 deg / s and 2.0 Nm, respectively, the driver's operation pattern is classified into 'middle / middle' And the main driving road is assumed to be 'normal' and 'general road', respectively, and the auxiliary power gain to be reflected is set to '1', and FIG. FIG. 3B shows a case where the driver's operation pattern is hierarchically classified into 'lower / upper' with respect to the input value when the average steering angle speed value and the average steering torque value are inputted at 50 deg / s and 3.0 Nm, respectively, Not , The risk level and the major roads are judged as 'very safe' and 'the road in the city', respectively, and the auxiliary power gain to be reflected is set to '1.015' Fig.

Operation and effect of the assist force adjusting device and method according to the driver pattern configured as described above will be described in detail as follows.

First, the steering force adjustment unit 122 of the engine control unit 120 mounted on the MDPS system 100 adjusts the steering wheel direction by the driver through the input value generation unit 110 while the vehicle is running, 1) from the steering sensor (TAS), calculates the average steering angular velocity value and the average steering torque value repeatedly at predetermined time intervals or at regular intervals, and accumulates the calculated average steering angular velocity value and the average steering torque value in the storage unit (121) The average steering angular velocity value and the average steering torque value for the vehicle driver are obtained.

In a state where the average value is stored in the storage unit 121, the steering force adjustment unit 122 confirms whether or not there is a steering feeling adjustment request by the driver in the state where the vehicle is started (S101) If it is determined that there is a steering feeling adjustment request (YES in S101), it is determined again whether or not the vehicle is running (S102).

The steering force adjustment unit 122 stops the operation of the MDPS to adjust the assist force of the MDPS (S103), and stores it in the storage unit 121 (step S102) The average steering angular velocity value and the average steering torque value are inputted (S104).

Next, the steering force adjustment unit 122 analyzes the average steering angular velocity value and the average steering torque value input in the first step and classifies the operation pattern of the driver into one or more groups according to the analysis result using the reference table (S105) , And the driver tendency is estimated (S106) using the operation pattern and the inclination table of the classified driver.

Then, the steering force adjustment unit 122 determines the degree of danger and the main road according to the estimated driver's propensity using the judgment table (S107), and reflects the driver's propensity and danger degree and the main driving road After setting the gain to be adjusted, the steering force is adjusted (S108), and the MDPS is re-operated (S108) to reflect the adjustment.

Accordingly, the present invention allows the MDPS system itself to receive the driver's torque value and angular value as input data, analyze the input data to analyze the driver's pattern and consequently group the drivers, The driver can adjust the assist force of the MDPS motor so as to provide a driver-friendly steering feeling.

1: Steering wheel 2: Steering rack
3: Gearbox 4: Motor
100: MDPS system 110: input value generating unit
120: engine control unit 121:
122: Steering force adjusting section

Claims (18)

An apparatus for adjusting an assist force of a motor-driven power-steering system (MDPS)
An input value generation unit for detecting a steering angular velocity and a steering torque applied to the steering wheel by the driver by adjusting the steering wheel direction from the steering sensor TAS; And
And calculates and stores an average steering angular velocity value and an average steering torque value from the steering angular velocity and the steering torque value detected by the input value generation unit and stores the calculated steering angular velocity value and the average steering torque value in a state in which the vehicle is in a running state, The average steering angular velocity value and the average steering torque value are analyzed to classify the driver's operation pattern, the driver's tendency and risk level according to the classified driving pattern of the driver and the major driving road are determined, and the determined driver's propensity And an engine controller for restarting the MDPS by setting a gain to be reflected in the steering force adjustment according to the degree of danger and the main driving road;
And an auxiliary force adjusting device according to a driver pattern. The engine control system according to claim 1,
A storage unit for storing an average steering angular velocity value and an average steering torque value calculated from the steering angular velocity and the steering torque value detected by the input value generation unit; And
And a steering force adjuster for operating the MDPS by classifying the driver's operation pattern using the average steering angular velocity value and the average steering torque value and setting a gain to be reflected in the steering force adjustment according to the classified operation pattern of the driver Auxiliary force adjusting device according to pattern. The steering system according to claim 2,
The control unit determines whether or not there is a request for steering feeling adjustment by the driver in the state where the vehicle is started. If it is determined that the steering feeling adjustment is requested, When the vehicle is not running, the MDPS operation is stopped to adjust the assist force of the MDPS, and then the stored average steering angular velocity value and the average steering torque value are inputted. . 4. The steering system according to claim 2 or 3,
The average steering angle value and the average steering torque value input from the storage unit are analyzed to classify the driver's driving pattern into one or more groups and the driver's propensity is estimated according to the driving pattern of the classified driver, And determining an assist force according to the driver pattern. The steering system according to claim 4,
Wherein the operation pattern of the driver is classified by grouping the average steering angular speed value and the average steering torque value by a reference table that defines the steering angular speed value and the steering torque value separately in at least one group, Force adjusting device. 6. The method according to claim 5,
Steering angular velocity values are classified into upper, lower, and lower groups, respectively, and the steering torque values are grouped into upper, lower, and lower groups in each group of the steering angular velocity values, The auxiliary force adjusting device according to the driver pattern. 6. The steering apparatus according to claim 5,
Wherein the driver tendency estimating means estimates a driver tendency according to an operation pattern of a driver by a tendency table that defines the tendency of the driver corresponding to each of the driving patterns of the drivers grouped by the reference table, . 8. The steering system according to claim 7,
Wherein the risk level and the major road according to the driver tendency are determined based on a judgment table that defines a degree of danger corresponding to the driver tendency respectively estimated by the tendency table and a main traveling road respectively, Force adjusting device. 9. The steering system according to claim 8,
And a gain to be reflected in adjustment of the steering force according to the main traveling road is set by the adjustment table which defines the danger level determined by the judgment table and the adjustment value corresponding to each of the major roads, The auxiliary force adjusting device according to the driver pattern. A method of adjusting an assist force of an MDPS,
(a) a first step of receiving an average steering angular velocity value and an average steering torque value after stopping the operation of the MDPS when there is a request for steering feeling adjustment by the driver in a state where the vehicle is starting and not running;
(b) classifying the driving pattern of the driver by analyzing the average steering angular velocity value and the average steering torque value inputted in the first step, and judging the driver tendency and the degree of danger and the main driving road according to the driving pattern of the classified driver ; And
and (c) a third step of re-operating the MDPS by setting a gain to be reflected in the steering force adjustment according to the driver tendency and the degree of danger determined in the second step and the main travel road, Auxiliary force adjustment method according to. 11. The method of claim 10, wherein the first step (a)
(a0) The steering angular velocity and the steering torque applied to the steering wheel by the driver adjusting the steering wheel direction are detected from the steering sensor (TAS), and the average steering angular velocity value and the average steering torque value And calculating and storing the assist force according to the driver pattern. 12. The method according to any one of claims 10 to 11, wherein the first step (a)
(a1) confirming whether or not there is a steering feeling adjustment request by the driver in a state where the vehicle is started;
(a2) determining whether the vehicle is traveling if there is a steering feeling adjustment request as a result of the steering feeling adjustment request;
(a3) stopping the operation of the MDPS to adjust the assisting force of the MDPS when the vehicle is not in a running state as a result of determining whether the vehicle is running; And
(a4) receiving the stored average steering angular velocity value and the average steering torque value after the operation of the MDPS is stopped; and adjusting the assist force according to the driver pattern. 11. The method of claim 10, wherein the second step (b)
(b1) analyzing the average steering angular velocity value and the average steering torque value input in the first step and classifying the operation pattern of the driver into one or more groups according to the analysis result;
(b2) estimating driver propensity according to an operation pattern of the driver classified in the step; And
(b3) judging the degree of danger and the main road according to the driver tendency estimated in the step (b3); and adjusting the assist force according to the driver pattern. 14. The method of claim 13, wherein step (b1)
And the operating pattern of the driver is classified by grouping the average steering angular speed value and the average steering torque value inputted in the first step by the reference table defining the steering angular speed value and the steering torque value separately in one or more groups, The assist force adjusting method according to the driver pattern. 15. The method of claim 14,
Steering angular velocity values are classified into upper, lower, and lower groups, respectively, and the steering torque values are grouped into upper, lower, and lower groups in each group of the steering angular velocity values, A method of adjusting an assist force according to a driver pattern characterized in that: 14. The method of claim 13, wherein step (b2)
The driver tendency according to the driving pattern of the driver classified in the step (b1) is estimated by the inclination table which defines the inclination of the driver corresponding to each of the driving patterns of the drivers grouped by the reference table, Auxiliary force adjustment method according to. 14. The method of claim 13, wherein step (b3)
The degree of danger and the main travel road according to the driver tendency estimated in the step (b2) are judged by the judgment table which respectively defines the risk degree and the main travel road respectively corresponding to the driver tendency estimated by the propensity table, Auxiliary force adjustment method according to driver pattern. 14. The method of claim 13, wherein the third step (c)
The danger degree determined by the driver tendency determined in step (b3) and the steering force adjustment according to the main driving road, which are determined by the adjustment table that defines the degree of danger respectively determined by the judgment table and the adjustment value corresponding to each of the major driving roads And the gain is set to restart the MDPS.

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