KR101557217B1 - System and method for controlling a steering assistant force using driver's force - Google Patents

Abstract

According to the present invention, the driver's force is estimated based on the driver's weight, the position of the steering wheel and the position of the seat are recognized, and the corresponding current table is selected to determine whether the steering torque is within the reference range, To a steering force control method and system according to a driver's force. A steering force control system according to the present invention includes: a torque sensor mounted on a steering shaft connected to a steering wheel and rotating together with a steering wheel, the torque sensor sensing a torque applied to the steering wheel by a driver; A steering sensor for sensing a rotation angle generated in accordance with the rotation of the steering wheel; A motor unit for generating a rotational force for transmitting to the steering shaft; A weight sensor mounted on a lower portion of a seat on which the driver seats and sensing the weight of the driver; A current table storing a driver's force and current value, a torque value and a rotation angle according to the weight of the driver; And an electronic control unit for estimating a driver's force according to the weight of the driver sensed through the weight sensor and controlling the steering assistance force of the steering wheel according to a current value corresponding to the estimated driver's force, (ECU).

Description

TECHNICAL FIELD [0001] The present invention relates to a method and a system for controlling a steering force according to a driver's force,

[0001] The present invention relates to a method and system for adjusting a steering force according to a driver's power. More particularly, the present invention estimates a driver's strength by the weight of a driver, recognizes the position of a steering wheel, And more particularly, to a method and system for adjusting a steering force according to a driver's ability to adjust a steering force according to whether a hand torque is within a reference range by selecting a current table.

BACKGROUND ART Generally, a power assist steering apparatus is used as a means for reducing the steering force of a steering wheel (steering wheel) to ensure stability of a steering state in a vehicle. Hydraulic power steering system (HPS) has been widely used for power assist steering system. However, unlike conventional hydraulic steering systems, hydraulic steering system (HPS) And an environmentally friendly electric power steering system (EPS) is commonly installed.

The electric steering system (EPS) drives a motor in an electronic control unit according to the driving conditions of a vehicle sensed by a vehicle speed sensor, a steering sensor, a torque sensor, etc., thereby giving a lighter and more comfortable steering feeling at low- Provides a good steering stability in addition to a heavy steering feeling and provides a restoring force of the steering wheel according to the rotation angle of the steering wheel to provide a steerable steering in an emergency situation to provide the optimum steering condition to the driver.

[0003] On the other hand, an electric power steering apparatus (EPS) is provided with a motor installed outside a steering column disposed between a steering wheel and a gear box so as to transmit a rotational force of a steering wheel of a driver downward, Thereby assisting the driver in steering the steering wheel.

However, the conventional electric steering system (EPS) has a function of adjusting the steering assistance force according to the driving habit of the driver, but the range of choice is limited to two or three cases, The function of adjusting the position is not implemented. Therefore, a function of variably controlling the steering force in accordance with the driver's power is required in addition to the driver's driving characteristics.

Korean Patent Publication No. 10-2012-0128323 (Publication date: November 27, 2012)

SUMMARY OF THE INVENTION An object of the present invention to solve the above problems is to estimate a driver's strength with the weight of a driver, recognize a position of a steering wheel and a seat position, select a corresponding current table, The present invention provides a method and system for adjusting a steering force according to a driver's ability to adjust a steering force according to whether a steering torque is within a reference range.

According to an aspect of the present invention, there is provided a steering system comprising: a torque sensor mounted on a steering shaft connected to a steering wheel and rotating together with a steering wheel, the torque sensor sensing a torque applied to the steering wheel by a driver; A steering sensor for sensing a rotation angle generated in accordance with the rotation of the steering wheel; A motor unit for generating a rotational force for transmitting to the steering shaft; A weight sensor mounted on a lower portion of a seat on which the driver seats and sensing the weight of the driver; A current table storing a driver's force and current value, a torque value and a rotation angle according to the weight of the driver; And a controller for controlling a steering assist force of the steering wheel by controlling the rotational force of the motor according to a current value, estimating a driver's force according to the weight of the driver sensed through the weight sensor, When the torque value corresponding to the weight of the driver is continuously maintained within the reference torque range, the control of the motor unit is continued with the current value corresponding to the weight of the driver A steering force control system according to a driver's force including an electronic control unit (ECU) is provided.

Also, the electronic control unit (ECU) estimates the driver's force using interpolation or extrapolation when the weight of the driver is not present in the current table, And the motor unit is controlled by the corresponding current value.

Further, the electronic control unit (ECU) adjusts the current table when the torque value corresponding to the driver's weight is larger than the reference torque, and when the torque value corresponding to the driver's weight is smaller than the reference torque The current table is adjusted downward.

In addition, the torque sensor senses a torque applied to the steering wheel, and outputs a (+) or (-) electrical signal proportional to the sensed torque.

Further, the torque sensor outputs a positive electric signal when the steering wheel rotates from the left end to the center or from the center to the right end, and conversely, the steering wheel rotates from the right end to the center, (-) electric signal when rotating to the left end of the center.

Also, the electronic control unit (ECU) stores the position of the steering wheel in the current table in association with the seat position and the smart key of the driver together with the controlled steering force at a rotation angle.

Further, the electronic control unit (ECU) further includes a tilt sensor for detecting a tilt of the vehicle, wherein the electronic control unit (ECU) determines that the tilt of the vehicle detected through the tilt sensor is a general equilibrium state (0 deg.), If the torque value corresponding to the driver's weight is within the reference torque range, the control of the motor unit is continued with the current value corresponding to the weight of the driver.

Also, the electronic control unit (ECU) estimates the driver's force according to the weight of the driver, the seat position and the position of the steering wheel, and controls the motor unit by the current table or function according to the estimated driver's force The steering force is automatically adjusted.

Then, the electronic control unit ECU controls the motor unit according to the estimated driver's force to automatically adjust the steering force, the driver's weight, the seat position, and the position of the steering wheel to the smart key of the driver And the memory number is set and stored in association with each other.

According to another aspect of the present invention, there is provided a steering apparatus for a vehicle including a torque sensor, a motor unit, a weight sensor, a current table, a tilt sensor, and an electronic control unit A method for adjusting a steering force, comprising: (a) sensing a weight of a driver by the weight sensor; (b) estimating a driver's strength from the seat position and the position of the steering wheel according to the weight of the driver; And (c) controlling the motor unit with the current value corresponding to the estimated driver's force by the electronic control unit (ECU).

In the step (b), the electronic control unit (ECU) estimates the driver's force using interpolation or extrapolation when the weight of the driver is not present in the current table .

In the step (b), the electronic control unit (ECU) adjusts the current table upward when the torque value corresponding to the driver's weight is larger than the reference torque, and adjusts the torque value corresponding to the driver's weight And the current table is adjusted downward when the current is smaller than the reference torque.

In the step (c), when the torque value corresponding to the weight of the driver is continuously maintained within the reference torque range, the control of the motor unit is continued with the current value corresponding to the weight of the driver.

In the step (c), the steering force is automatically controlled by controlling the motor unit by the current table or function according to the estimated driver's force.

In step (b), the electronic control unit (ECU) estimates the driver's force according to the weight of the driver, the seat position, and the position of the steering wheel when estimating the driver's force.

In addition, the step (c) may further include calculating a steering force for controlling the motor unit, a driver's force, a weight of the driver, a seat position, and a position of the steering wheel based on a current value corresponding to the estimated driver's force, And stored in association with the memory number.

In the step (c), when the inclination of the vehicle sensed by the tilt sensor is a general equilibrium state (0 °) and the traveling direction of the vehicle is the forward direction, the electronic control unit If the torque value corresponding to the weight is within the reference torque range, the control of the motor unit is continued with the current value corresponding to the weight of the driver.

In step (c), the electronic control unit (ECU) controls the motor unit according to the estimated driver's force to automatically adjust the steering force, the driver's weight, the seat position, and the position of the steering wheel To the smart key of the driver and sets and stores the memory number.

According to the present invention, the driver's force can be estimated according to the weight of the driver in addition to the driver's driving characteristics, and the steering force of the steering wheel can be variably controlled according to the estimated driver's force.

Therefore, the steering force can be automatically adjusted without any operation by the driver.

1 is a block diagram schematically illustrating an overall configuration of a steering force control system according to a driver's force according to an embodiment of the present invention.
2 is a table showing electric signals generated by the steering sensor and the torque sensor according to the rotational direction of the steering wheel.
FIG. 3 is a flowchart illustrating a steering force control method according to an embodiment of the present invention. Referring to FIG.
4 is a graph showing the assist torque amount of the motor according to the steering angle when the Rack End Stop function is executed.
5 is a graph showing a state in which an assist torque amount is adjusted at the time of sign mismatch of an electric signal from a steering sensor and a torque sensor.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that it is not intended to be limited to the particular embodiments of the invention but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

An embodiment of a steering force control method and system according to a driver's force according to the present invention will be described in detail with reference to the accompanying drawings. In the following description with reference to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, and a redundant description thereof will be omitted.

1 is a block diagram schematically illustrating an overall configuration of a steering force control system according to a driver's force according to an embodiment of the present invention.

Referring to FIG. 1, a steering force control system 100 according to an embodiment of the present invention includes a torque sensor 42, a steering sensor 43, A weight sensor 110, a current table 120, a tilt sensor 130, an electronic control unit (ECU) 44, and the like.

It also includes a steering system 30 extending from the steering wheel 2 to the wheels 26 and an auxiliary power mechanism 40 for providing steering assist power (rotational force) to the steering system 30.

The steering system 30 includes a steering wheel 2 and one side connected to the steering wheel 2 and rotated together with the steering wheel 2 and the other side connected to the pinion shaft 8 via a pair of universal joints 4 And a steering shaft 6 connected to the steering shaft 6. The pinion shaft 8 is connected to the rack bar 12 through the rack pinion mechanism portion 10 and both ends of the rack bar 12 are connected to the wheels 26 of the vehicle through the tie rod 22 and the knuckle arm 24. [ Lt; / RTI >

The auxiliary power unit 40 may include a torque sensor 42, a steering sensor 43, an ECU 44, a motor unit 46, and a speed reducer 50. [

Here, the motor unit 46 generates an auxiliary power based on the control signal transmitted from the ECU 44, and the speed reducer 50 transmits the auxiliary power generated in the motor unit 46 to the steering shaft 6 And includes a worm gear 52 and a worm wheel gear 56.

The torque sensor 420 is connected to the steering wheel 2 and mounted on a steering shaft 6 rotating together with the steering wheel 20 and detects a torque applied to the steering wheel 2 by the driver.

At this time, the torque sensor 42 outputs an electric signal of (+) or (-) in accordance with the rotation direction of the steering wheel 2. For example, the torque sensor 42 outputs a (+) electric signal when the steering wheel 2 rotates from the left end to the center or from the center to the right end. On the contrary, the torque sensor 42 outputs an electric signal (-) when the steering wheel 2 rotates from the right end to the center or from the center to the left end.

Here, the left end refers to a position at which the steering wheel 2 can not be rotated further by turning to the left, and the right end refers to a position at which the steering wheel 2 can not be rotated further by rotating the steering wheel 2 to the right. And the center position refers to a state in which the wheels 26 are parallel to the vehicle body, that is, a state in which the steering wheel 2 is not rotated.

The steering sensor 43 senses the rotational angle that occurs in accordance with the rotation of the steering wheel 2. [

That is, the steering sensor 430 outputs an electric signal proportional to the rotation angle of the steering wheel 2 generated in accordance with the rotation of the steering wheel 2 of the driver, and outputs an electric signal proportional to the rotation direction of the steering wheel 2 (+ Or (-) electrical signals. For example, when the driver rotates the steering wheel 2 from the center position toward the right end, or rotates the steering wheel 2 from the right end toward the center, Signal. Conversely, when the driver rotates the steering wheel 2 from the center toward the left end, or rotates from the left end toward the center, the steering sensor 43 generates an electric signal of negative (-).

Accordingly, the electric signals generated by the steering sensor 43 and the torque sensor 42 in accordance with the rotational direction of the steering wheel 2 are as shown in FIG. (+) Electrical signal is generated from the steering sensor 43 and a positive electrical signal is output from the torque sensor 42 when the steering wheel 2 is rotated from the center to the right end, as shown in Fig. 2 . Further, when the steering wheel 2 rotates from the center to the left end, a negative electric signal is generated from the steering sensor 43, and a negative electric signal is generated from the torque sensor 42.

That is, when the steering wheel 2 rotates from the center to the right end, both positive (+) electrical signals are generated from the steering sensor 43 and the torque sensor 42 and the electrical signals from the steering sensor 43 and the torque The sign of the electric signal from the sensor 42 is the same. Likewise, when the steering wheel 2 rotates from the center to the left end, an electric signal of both (-) from the steering sensor 43 and the torque sensor 42 is generated and the electric signal from the steering sensor 43 and the torque The sign of the electric signal from the sensor 42 is the same.

On the other hand, when the steering wheel 2 rotates from the right end to the center, a (+) electric signal is generated from the steering sensor 43, and an electric signal is generated from the torque sensor 42, The electric signal from the sensor 43 and the electric signal from the torque sensor 42 are different. Likewise, when the steering wheel 2 rotates from the left end to the center, a negative (-) electrical code is generated from the steering sensor 43 and a positive electrical signal is generated from the torque sensor 42, The sign of the electric signal from the sensor 43 and the sign of the electric signal from the torque sensor 42 are different.

The motor section 46 generates steering assist power, i.e., rotational force, for transmitting to the steering shaft 6.

The weight sensor 110 is attached to a lower portion of a seat on which the driver seats and senses the weight of the driver.

The current table 120 stores the driver's force and current value, torque value, and rotation angle according to the weight of the driver.

The tilt sensor 130 senses the inclination of the vehicle. That is, the tilt sensor 130 detects a tilted state of a normally parked state (0 °) and a tilt of an uphill road or a downhill road, where the inclination of a vehicle that is parked or runs on a flat ground is detected.

The ECU 44 generates a control signal for controlling the motor 46 based on the electric signal transmitted from the torque sensor 42 and the steering sensor 43. That is, the electronic control unit 44 can adjust the torque of the steering wheel 2 by adjusting the amount of the assist torque by adjusting the amount of current supplied to the motor 46. [

The ECU 44 controls the steering assistance force of the steering wheel 2 by controlling the rotational force of the motor unit 46 according to the current value, And controls the motor unit 46 with the current value corresponding to the estimated driver's force. When the torque value corresponding to the driver's weight is continuously maintained within the reference torque range, the driver's weight The control of the motor section 46 is continued by the corresponding current value.

Further, the ECU 44 estimates the driver's force using interpolation or extrapolation when the driver's weight is not present in the current table, and calculates the current value corresponding to the estimated driver's force Thereby controlling the motor unit.

Further, the ECU 44 adjusts the current table upward when the torque value corresponding to the driver's weight is larger than the reference torque, and adjusts the current table downward when the torque value corresponding to the driver's weight is smaller than the reference torque .

In addition, the ECU 44 stores the position of the steering wheel in the current table in association with the seat position and the smart key of the driver together with the steering force at the rotation angle.

Further, when the inclination of the vehicle sensed through the tilt sensor is a general equilibrium state (0 DEG) and the traveling direction of the vehicle is the forward direction, the ECU 44 determines that the torque value corresponding to the driver's weight is within the reference torque range The control of the motor section is continued by the current value corresponding to the weight of the driver.

Further, the ECU 44 estimates the driver's force in accordance with the weight of the driver, the seat position, and the position of the steering wheel, and controls the motor unit by the current table or function according to the estimated driver's force to automatically adjust the steering force do.

The ECU 44 controls the motor unit according to the estimated driver's force to adjust the steering force automatically, the driver's weight, the seat position, and the position of the steering wheel to the driver's smart key, Is set and stored.

FIG. 3 is a flowchart illustrating a steering force control method according to an embodiment of the present invention. Referring to FIG.

Referring to FIG. 3, in the steering force control system 100 according to the embodiment of the present invention, the weight sensor senses the driver's weight (S310).

If the weight of the driver exists in the current table 120 (YES in S320), the ECU estimates the driver's force with the seat position and the position of the steering wheel according to the weight of the driver (S330).

Subsequently, the ECU controls the motor unit with the current value corresponding to the estimated driver's force to adjust the steering force (S340).

However, if the weight of the driver is not present in the current table (S320 -No), the ECU estimates the driver's force using interpolation or extrapolation (S350).

At this time, the ECU adjusts the current table upward when the torque value corresponding to the weight of the driver is larger than the reference torque, and adjusts the current table downward when the torque value corresponding to the driver's weight is smaller than the reference torque.

Further, when the torque value corresponding to the weight of the driver is continuously maintained within the reference torque range, the ECU continues the control of the motor portion with the current value corresponding to the driver's weight.

Further, the ECU controls the motor section by the current table or function according to the estimated driver's force to automatically adjust the steering force.

Further, when estimating the driver's force, the ECU estimates the driver's force according to the weight of the driver, the seat position, and the position of the steering wheel.

Also, the ECU stores the steering force for controlling the motor unit, the driver's force, the driver's weight, the seat position, and the position of the steering wheel in correspondence with the smart key or the memory number with the current value corresponding to the estimated driver's force.

Further, when the inclination of the vehicle sensed by the inclination sensor is in a general equilibrium state (0 DEG) and the traveling direction of the vehicle is the forward direction, the ECU determines that the driver's weight is within the reference torque range, The control of the motor section is continued by the current value corresponding to the weight of the motor.

Then, the ECU sets the memory number by controlling the motor unit according to the estimated driver's power to automatically adjust the steering force, the driver's weight, the seat position, and the position of the steering wheel in correspondence with the driver's smart key .

Meanwhile, the ECU according to the present invention can perform a Rack End Stop function. The Rack End Stop function reduces the output, that is, the current, provided to the motor section 46 before it mechanically contacts the end when the driver rotates the steering wheel 2 toward the right or left end, 2) is mechanically prevented from coming into contact with the end.

When the steering wheel 2 is positioned at the right end or the left end by the Rack End Stop function, the current supplied to the motor unit 46 is small. As shown in FIG. 4, when the steering angle of the steering wheel 2 is increased, the same current is maintained until the predetermined angle of rotation [theta] 1, and the amount of current gradually decreases above a certain rotation angle [ The amount of current is minimized before reaching the maximum rotation angle [theta] 2. At this time, although the minimum current amount provided to the motor unit 46 is larger than 0, the motor unit 46 is not actually driven. This is because, in order to rotate the steering wheel 2, an amount of current exceeding the maximum traction frictional force of the steering wheel 2 must be provided, but the amount of current supplied to the motor 46 when the steering wheel 2 is at the maximum rotation angle [ This is because the driving force of the motor section 46 due to the minimum current amount does not exceed the maximum traction frictional force of the steering wheel 2.

The steering force control system 100 according to the present invention is configured such that when the signs of the electric signals provided from the torque sensor 42 and the steering sensor 43 are different from each other, the steering wheel 2 is rotated from the right end or left end The amount of electric current supplied to the motor unit 46 is restored to the level before the Rack End Stop function is executed when the rotation angle of the steering wheel 2 is equal to or greater than a preset recovery angle 3, Allow the assist torque to recover. That is, when the steering wheel 2 is rotated from the right end or the left end to the center, the ECU 44 increases the amount of current provided to the motor unit 46 as compared to when the Rack End Stop function is performed.

More specifically, the Rack End Stop function reduces the amount of current supplied to the motor 46 until reaching the left end or the right end at a predetermined rotation angle? 1 or more as shown in FIG. 5 .

Accordingly, the ECU rotates the motor 46 in a predetermined period A including the left end and the right end in a period longer than the rotation angle [theta] 1 by ramping up the amount of current supplied to the motor 46 to a state before the Rack End Stop function, . That is, the torque that was limited by the Rack End Stop function is recovered before the Rack End Stop function is executed. In this case, as the amount of electric current is sufficiently supplied to the motor section 46 in a certain section A including the left end and the right end, the assist torque of the motor section 46 increases, and the steering wheel 2 is moved toward the center It does not generate a sense of latching.

As described above, according to the present invention, the driver's strength is estimated by the weight of the driver, the position of the steering wheel and the position of the seat are recognized, and the corresponding current table is selected, It is possible to realize a method and system for adjusting the steering force according to the driver's ability to adjust the steering force depending on whether the steering force is within the range.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents. Only. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

According to the present invention, the driver's force is estimated based on the driver's weight, the position of the steering wheel and the position of the seat are recognized, and the corresponding current table is selected to determine whether the steering torque is within the reference range, The present invention can be applied to a steering force control method and system according to a driver's force.

42: torque sensor 43: steering sensor
44: ECU 46:
100: Steering force adjustment system 110: Weight sensor
120: current table 130: tilt sensor

Claims (18)

A torque sensor connected to a steering wheel of the vehicle and mounted on a steering shaft rotating together with the steering wheel, the torque sensor sensing a torque applied to the steering wheel;
A tilt sensor for sensing a tilt of the vehicle;
A steering sensor for sensing a rotation angle generated in accordance with the rotation of the steering wheel;
A motor unit for generating a rotational force for transmitting to the steering shaft;
A weight sensor mounted on a lower portion of a seat on which a driver sits and sensing the weight of the driver;
A current table storing a driver's force and current value, a torque value and a rotation angle according to the weight of the driver; And
A steering force of the steering wheel is controlled by controlling a rotational force of the motor unit according to a current value so as to estimate a driver's force according to the weight of the driver sensed through the weight sensor, Wherein the control unit controls the motor unit with a current value corresponding to a force, and when the inclination of the vehicle sensed through the inclination sensor is a general equilibrium state (0 DEG) and the traveling direction of the vehicle is the forward direction, An electronic control unit (ECU) that continues the control of the motor unit with a current value corresponding to the weight of the driver if the corresponding torque value is within a reference torque range;
The steering force control system according to the power of the driver.
The method according to claim 1,
The electronic control unit estimates the driver's force using interpolation or extrapolation when the weight of the driver is not present in the current table, Wherein the control unit controls the motor unit with a current value.
The method according to claim 1,
The electronic control unit (ECU) adjusts the current table upward when the torque value corresponding to the driver's weight is larger than the reference torque, and when the torque value corresponding to the driver's weight is smaller than the reference torque, And the table is adjusted downward.
The method according to claim 1,
Wherein the torque sensor senses a torque applied to the steering wheel and outputs an electric signal of (+) or (-) in proportion to the sensed torque.
The method of claim 4,
The torque sensor outputs a (+) electric signal when the steering wheel rotates from the left end to the center or from the center to the right end, and conversely, the steering wheel rotates from the right end to the center, And outputs an electric signal of (-) when rotated to the left end.
The method according to claim 1,
Wherein the electronic control unit (ECU) stores the position of the steering wheel in the current table in association with the seat position and the smart key of the driver together with the controlled steering force at a rotation angle, Conditioning system.
delete The method according to claim 1,
The electronic control unit estimates the driver's force in accordance with the weight of the driver, the seat position and the position of the steering wheel, and controls the motor unit by the current table or function according to the estimated driver's force, The steering force control system according to the present invention.
The method according to claim 1,
The electronic control unit (ECU) controls the motor unit according to the estimated driver's force to correspond to the driver's force, the driver's weight, the seat position, and the position of the steering wheel to the driver's smart key And a memory number is set and stored.
A method of adjusting a steering force according to a driver's power of a system including a torque sensor and a steering sensor, a motor unit, a weight sensor, a current table, a tilt sensor, and an electronic control unit (ECU)
(a) sensing the weight of the driver by the weight sensor;
(b) estimating the driver's force to the seat position and the position of the steering wheel according to the weight of the driver; And
(c) the electronic control unit (ECU) controls the motor unit with a current value corresponding to the estimated driver's force, wherein the tilt of the vehicle detected through the tilt sensor is a general equilibrium state (0 DEG) Continuing the control of the motor unit with a current value corresponding to the weight of the driver if the torque value corresponding to the driver's weight is within the reference torque range when the traveling direction of the driver is the forward direction;
Wherein the steering force adjusting means adjusts the steering force according to the driver's force.
The method of claim 10,
In the step (b), the electronic control unit (ECU) estimates the driver's force using interpolation or extrapolation when the weight of the driver is not present in the current table A method for adjusting a steering force according to a driver's power.
The method of claim 10,
In the step (b), the electronic control unit (ECU) adjusts the current table upward when the torque value corresponding to the driver's weight is larger than the reference torque, and if the torque value corresponding to the driver's weight is greater than the reference torque And the current table is adjusted downward when the steering angle is smaller than a predetermined value.
The method of claim 10,
Wherein the step (c) continues the control of the motor unit with a current value corresponding to the weight of the driver when the torque value corresponding to the weight of the driver is continuously maintained within the reference torque range. A method for adjusting a steering force according to a force of a steering wheel.
The method of claim 10,
Wherein the step (c) automatically adjusts the steering force by controlling the motor unit by the current table or the function according to the estimated driver's force.
The method of claim 10,
Wherein the electronic control unit estimates the driver's force in accordance with the weight of the driver, the seat position, and the position of the steering wheel when estimating the driver's force in the step (b) .
16. The method of claim 15,
The step (c) further comprises calculating a steering force to control the motor unit with a current value corresponding to the estimated driver's force, a driver's force, a driver's weight, a seat position and a position of the steering wheel, And the steering force is stored in association with the driver's force.
delete The method of claim 10,
In step (c), the electronic control unit controls the motor unit according to the estimated driver's force to automatically adjust the steering force, the driver's weight, the seat position, and the position of the steering wheel, And a memory number corresponding to the smart key of the driver is set and stored.

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