KR101657000B1 - Steering control apparatus - Google Patents
Steering control apparatus Download PDFInfo
- Publication number
- KR101657000B1 KR101657000B1 KR1020150069489A KR20150069489A KR101657000B1 KR 101657000 B1 KR101657000 B1 KR 101657000B1 KR 1020150069489 A KR1020150069489 A KR 1020150069489A KR 20150069489 A KR20150069489 A KR 20150069489A KR 101657000 B1 KR101657000 B1 KR 101657000B1
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- steering angle
- rear wheel
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- mode
- wheel steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/84—Rear wheel steering; All wheel steerings
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
The present invention relates to a steering control device. And more particularly, to a steering control apparatus for controlling front wheels and rear wheels.
The vehicle is equipped with reverse-phase control to reduce the turning radius at low-speed turning, thereby improving the maneuverability of large-sized vehicles. By controlling the in-phase control, yaw rate and slide-slip during high- A steering control device for controlling the front wheels and the rear wheels is provided.
The steering control device determines the straight ahead situation using the steering torque and the steering angle, and then corrects the steering angle generation amount by comparing the steering angle generation amount with the center value of the rear wheel steering device.
However, in the input condition, the steady-state error generation amount (Offset) of the front wheel steering angle including the influence of the operation amount of the rear wheel steering device depends on the steady state error amount of the front wheel steering angle and the operation amount of the rear wheel steering device, It is possible to distort the steady-state error of the sensor that detects the rate, the lateral acceleration, and the like.
Accordingly, the performance of the sensor steady state error correction function of the individual system operating as a sensor may be deteriorated.
Such a problem can be solved if the steering control device can operate by applying the operation inhibition period set according to the amount of error generation and accordingly the operation amount of the rear wheel steering device.
However, at present, a steering control device that operates by applying an operation prohibited period has not been developed.
In view of the foregoing, an object of the present invention is, in one aspect, to provide a steering control device that operates by setting an operation prohibited period according to the vehicle condition and applying a set operation prohibited period.
In one aspect of the present invention, at least one of a steering angle and a steering inhibition offset, a front wheel steering angle, a rear steering angle, a yaw rate, a lateral acceleration, A sensing unit for sensing the light; An arithmetic unit for calculating a rear wheel target steering angle based on an addition value of the steering angle and the steering angle offset and an operation prohibited period; Whether or not the initial operation state, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, whether the rear wheel target steering angle corresponds to the second condition, whether the rear wheel steering angle control value corresponds to the third condition, Whether or not the target steering angle corresponds to the fourth condition and whether or not the retention time of the rear wheel target steering angle corresponds to the fifth condition; An offset mode determination unit for determining an offset mode as an initial correction mode, a corrected completion mode, an incremental re-correction mode, or a retention re-correction mode based on at least one determination result of the determination unit; An operation prohibited period setting unit for setting the operation prohibited period as an irrevability, initial value, set value, increased value or existing value based on whether the offset mode and the front wheel steering angle correspond to the sixth condition; And a control section for controlling the rear wheel steering apparatus based on whether or not an operation signal is received, whether or not the rear wheel steering apparatus is normal, and a vehicle speed and an operation prohibition section.
As described above, according to the present invention, it is possible to provide a steering control apparatus that operates by setting an operation prohibited period according to the vehicle state and applying a set operation prohibited period.
1 is a diagram showing a configuration of a steering control apparatus according to an embodiment of the present invention.
2 is a diagram illustrating an example of operation of the steering control apparatus according to an embodiment of the present invention.
3 is a diagram illustrating another example of operation of the steering control apparatus according to an embodiment of the present invention.
4 is a diagram illustrating an example of a rear wheel target steering angle calculation according to an embodiment of the present invention.
5 is a view for explaining the operation of the offset mode determination unit according to an embodiment of the present invention.
6 is a diagram for explaining the operation of the operation prohibition interval setting unit according to an embodiment of the present invention.
Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference numerals whenever possible, even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.
In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."
1 is a diagram showing a configuration of a steering control apparatus according to an embodiment of the present invention.
The steering control device according to an embodiment of the present invention is configured to prohibit operation that is a section prohibiting control of a steering angle and a steering angle offset, a front wheel steering angle, a rear wheel steering angle, a yaw rate, a lateral acceleration, A sensing unit sensing at least one of the sections; An arithmetic unit for calculating a rear wheel target steering angle based on an addition value of the steering angle and the steering angle offset and an operation prohibition period as a period for prohibiting the control of the rear wheel steering apparatus; Whether or not the initial operation state, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, whether the rear wheel target steering angle corresponds to the second condition, whether the rear wheel steering angle control value corresponds to the third condition, Whether or not the target steering angle corresponds to the fourth condition and whether or not the retention time of the rear wheel target steering angle corresponds to the fifth condition; An offset mode determination unit for determining an offset mode as a correction completion mode, an incremental re-correction mode, or a retention re-correction mode based on at least one determination result of the determination unit; An operation prohibited period setting unit for setting the operation prohibited period as an irrevability, initial value, set value, increased value or existing value based on whether the offset mode and the front wheel steering angle correspond to the sixth condition; A control unit for controlling the rear wheel steering apparatus based on whether or not the operation signal is present, whether the rear wheel steering apparatus is normal, the vehicle speed and the operation prohibited period; .
Referring to FIG. 1, a
The
The
For example, the
In a rear-wheel steering system in which an offset is present in a sensor for detecting a front wheel steering angle, a yaw rate, and a lateral acceleration in a running condition such as a straight running, the rear wheel steering angle is controlled using an offset- And may also cause offset distortion of the sensor. Accordingly, the performance of the braking device, the steering control device, and the like may be reduced.
This problem can be prevented by the
For example, when the magnitude of the steering angle and the steering angle offset addition value is larger than the operation inhibition interval, the
When the magnitude of the steering angle and the steering angle offset addition value is less than or equal to the operation inhibition interval, the
If the magnitude of the steering angle and the steering angle offset addition value is larger than the operation prohibition interval, the
Alternatively, the
The
For example, the
In addition, the
That is, it is possible to determine whether the vehicle is traveling straight ahead by using at least one of a steering angle, a front wheel steering angle, a rear wheel steering angle, a yaw rate, a lateral acceleration and a vehicle speed sensed by the
For example, if the sensed yaw rate is equal to or greater than a predetermined value, the
In addition, the
That is, it is possible to determine whether offset correction is necessary using at least one of the neutral position of the steering apparatus, the steering angle, the front wheel steering angle, the rear wheel steering angle, the yaw rate, the lateral acceleration and the vehicle speed.
For example, if the steering apparatus is in the neutral position or if the sensed yaw rate is greater than a predetermined value, the
The
For example, if the initial operation is determined, the offset
In the second example, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, The offset
In the third example, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, The offset
That is, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, and the neutral position of the steering apparatus corresponds to the fourth condition If the retention time of the rear wheel target steering angle does not satisfy the fifth condition, the offset
Alternatively, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, and the neutral position of the steering apparatus corresponds to the fourth condition And the retention time of the rear wheel target steering angle does not correspond to the fifth condition, the offset
In the fourth example, when the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, and the rear wheel steering angle control amount does not correspond to the third condition, The offset
That is, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount does not correspond to the third condition, The offset
Alternatively, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount does not correspond to the third condition, If the condition is not satisfied, the offset
For example, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle does not correspond to the second condition, and the holding time of the rear wheel target steering angle corresponds to the fifth condition, The
That is, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle does not correspond to the second condition, and the retention time of the rear wheel target steering angle corresponds to the fifth condition, The offset mode can be determined to be the incremental recalibration mode.
Alternatively, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle does not correspond to the second condition, and the retention time of the rear wheel target steering angle does not correspond to the fifth condition, ) Can decide to maintain the offset mode and to perform the recalibration mode.
For example, if the vehicle speed, the front wheel steering angle, and the rear wheel steering angle do not satisfy the first condition, the offset
The
In the first example, if the offset mode is determined as the correction completion mode, the operation prohibition
In the second example, the offset mode is determined as the initial correction mode, the incremental recalibration mode or the maintenance recalibration mode, and if the front wheel steering angle corresponds to the sixth condition, the operation inhibition
In the third example, if the offset mode is determined to be the initial correction mode and the front wheel steering angle does not correspond to the sixth condition, the operation prohibition
In the fourth example, if the offset mode is determined as the maintenance re-correction mode and the front wheel steering angle does not correspond to the sixth condition, the operation prohibition
The existing value may mean an operation prohibited period set in the previous operation.
For example, if the offset mode is determined to be the incremental recalibration mode and the front wheel steering angle does not correspond to the sixth condition, the operation prohibition
The predetermined amount can be set separately according to conditions such as the vehicle speed, the in-phase or reverse-phase control mode of the rear-wheel steering system, the size of the operation prohibited period, and the operation prohibited period can be extended according to the fifth example.
The
For example, if the operation signal is ON, the rear-wheel steering apparatus is normal, the vehicle speed is equal to or greater than a preset vehicle speed, and the operation prohibition period is not correctable, the
The above-mentioned operating signal may be a signal by a switch for determining whether the rear wheel steering apparatus is operating.
The above-described normal state may mean that the system including the electric wire or the communication apparatus constituting the rear wheel steering apparatus operates normally. For example, the wire means normal operation if there is no disconnection or short circuit, and it may mean that the communication device performs normal operation when communication is smooth.
If the rear-wheel steering apparatus is determined to be abnormal, the
Also, the
In addition, the
2 is a diagram illustrating an example of operation of the steering control apparatus according to an embodiment of the present invention.
2, the
In addition to the sensed values, the sensing unit may further sense yaw rate and lateral acceleration values from the installed yaw rate sensor and the lateral acceleration sensor, respectively. The yaw rate and lateral acceleration values may be determined Can be used to more accurately determine.
The calculation unit calculates the rear wheel target steering angle on the basis of the steering angle, the steering angle offset and the operation prohibited interval detected by the sensing unit. The steering angle, the steering angle offset, the front wheel steering angle, the rear steering angle, the yaw rate, And the operation prohibited period, the judging unit judges whether or not at least one of the first condition, the second condition, the third condition, the fourth condition, and the fifth condition is satisfied. Then, the offset mode determining unit determines the offset mode as the initial correction mode, the correction completion mode, the increase correction mode, or the maintenance correction mode based on the determination result of the determination unit. Thereafter, based on the determined offset mode, the operation inhibition interval setting unit sets the operation prohibition interval as an irrecoverable value, an initial value, a set value, a constant value, or an existing value. Then, the control unit controls the operation of the motor connected to the
3 is a diagram illustrating another example of operation of the steering control apparatus according to an embodiment of the present invention.
Referring to FIG. 3, in step S310, the sensing unit detects a steering angle, a steering angle offset, a front wheel steering angle, a rear wheel steering angle, a vehicle speed and an operation prohibited period according to another embodiment of the present invention.
For example, in step S310, a steering angle is detected from a steering angle sensor, a steering angle offset stored in advance in the electronic control unit is detected, a front wheel steering angle is detected from a front wheel steering angle detection sensor, a rear wheel steering angle is detected from a rear wheel steering angle detection sensor, It is possible to detect the vehicle speed from the vehicle speed sensor and detect the operation prohibited period which is a period for prohibiting the control of the rear wheel steering device stored in advance in the electronic control unit.
When the step S310 is performed, the controller determines whether the system including the electric wire or the communication device that constitutes the rear wheel steering device is operating and the operating condition is determined (S320).
For example, the wire means normal operation if there is no disconnection or short circuit, and it may mean that the communication device performs normal operation when communication is smooth.
The operating condition may be an initial value, a set value, a value increased by a certain amount, or an existing value when the operating signal is ON, the rear wheel steering apparatus is normal, the vehicle speed is a predetermined vehicle speed or more,
When S320 is performed by the control unit, the arithmetic unit calculates the rear wheel target steering angle (S330).
For example, when the size of the steering angle and the steering angle offset addition value is less than or equal to the operation prohibition interval, the rear wheel feedforward control target steering angle is set to 0 Alternatively, if the magnitude of the steering angle and the steering angle offset addition value is greater than the operation prohibition interval, the change of the rear wheel feedforward control target steering angle is linearly implemented or the rear wheel feedforward control target steering angle is limited as a whole.
This will be described in detail with reference to FIG.
4 is a diagram illustrating an example of a rear wheel target steering angle calculation according to an embodiment of the present invention.
Referring to FIG. 4, in the steering control device having no operation prohibition section, the rear wheel feedforward control target steering angle with respect to the sum of the steering angle and the steering angle offset may have a waveform as shown in (A).
Alternatively, the rear-wheel feedforward control target steering angle for the sum of the steering angle and the steering-angle offset in the steering control apparatus according to an embodiment of the present invention having the
The steering control device operating with the waveform of the vehicle speed B may cause the behavior of the vehicle to be discontinuous due to the calculated discontinuous rear wheel feedforward control
In order to reduce the inconvenience caused by such a reason, the computing unit decreases the rate of change or computes it using a method such as a proportional value application so as to become the rear wheel feedforward control
Alternatively, the arithmetic operation unit subtracts the inhibition period (steering angle_steering angle offset axis right side parallel movement) and addition (steering angle_steering angle offset axis left side parallel movement) to the addition value of the steering angle and the steering angle offset to restrict the rearward feedforward control target steering angle as a whole The rear wheel feedforward control
The calculating unit can calculate the target steering angle by adding the rear wheel feedback control target steering angle calculated by performing the programmed calculation with the rear wheel feedforward target steering angle.
By performing the above-described operation by applying the operation inhibiting period, the response of the behavior of the vehicle to the steering change amount is delayed, so that the characteristic change can be minimized.
When the step S330 is performed as described above, it is determined whether or not the determination unit is initialized, whether the vehicle speed, the front wheel steering angle and the rear wheel steering angle satisfy a first condition, whether the rear wheel target steering angle corresponds to a second condition, Whether or not the control value corresponds to the third condition, whether the neutral position of the steering apparatus corresponds to the fourth condition, and whether the retention time of the rear wheel target steering angle corresponds to the fifth condition is determined.
The offset mode determining unit determines the offset mode as the initial correction mode, the corrected completion mode, the incremental recalibration mode, or the retentive recalibration mode based on at least one determination result of the determination unit (S340).
The detailed operation will be described with reference to FIG.
5 is a view for explaining the operation of the offset mode determination unit according to an embodiment of the present invention.
Referring to FIG. 5, the offset mode determination unit first determines whether the determination result of the determination unit is an initial operation (S510).
If it is determined that the determination result of the determination unit is the initial operation, the offset mode determination unit determines the offset mode as the initial correction mode (S513).
If it is determined in step S510 that the determination result of the determination unit is not the initial operation, the offset mode determination unit determines whether the determination result of the determination unit is the first condition (S520).
If the determination result of the determination unit is found to correspond to the first condition, the offset mode determination unit determines whether the determination result of the determination unit is the second condition (S530).
If the determination result of the determination unit is found to correspond to the second condition, the offset mode determination unit determines whether the determination result of the determination unit is the third condition (S540).
If the determination result of the determination unit is found to correspond to the third condition, the offset mode determination unit determines whether the determination result of the determination unit is the fourth condition (S550).
If the determination result of the determination unit is found to correspond to the fourth condition, the offset mode determination unit determines the offset mode as the correction completion mode (S553).
Alternatively, if the determination result of the determination unit is determined to correspond to the first condition, the second condition, and the third condition, it is determined that the determination condition does not correspond to the fourth condition, or it is determined that the first condition, 3, or if it is determined that the first condition is satisfied and the second condition is not satisfied, the offset mode determination unit determines whether the determination result of the determination unit is the fifth condition (S560) .
If it is determined in step S560 that the determination result of the determination unit is the fifth condition, the offset mode determination unit determines the offset mode as the increase recalibration mode.
Alternatively, if it is determined in step S560 that the determination result of the determination unit does not correspond to the fifth condition, the offset mode determination unit determines the offset mode as the maintenance re-correction mode.
Also, if it is determined in step S520 that the determination result of the determination unit does not correspond to the first condition, the offset mode determination unit may determine the offset mode to be the maintenance re-correction mode.
If the offset mode is determined in step S340 by performing the above-described operation, it is impossible to correct the operation prohibition section based on whether the operation mode prohibition section setting section determines the offset mode and whether the front wheel steering angle corresponds to a predetermined front wheel steering angle or more , An initial value, a set value, a constant value, or an existing value (S350).
A detailed description thereof will be described with reference to FIG.
The operation prohibition period setting unit may set the operation prohibition period as non-correction based on whether the determined offset mode and the front wheel steering angle correspond to the sixth condition, the initial value, the set value, .
6 is a diagram for explaining the operation of the operation prohibition interval setting unit according to an embodiment of the present invention.
Referring to FIG. 6, the operation prohibition period setting unit determines whether the front wheel steering angle corresponds to the sixth condition (S610).
If it is determined in step S610 that the front wheel steering angle corresponds to the sixth condition, the operation prohibition period setting unit sets the operation prohibition period as non-correction (S613).
For example, if the operation inhibition period setting section sets the operation inhibition period to be incapable of correction, the steering control apparatus of the present invention can control the rear wheel steering apparatus not to operate.
If it is determined in step S610 that the front wheel steering angle does not correspond to the sixth condition, the operation prohibition period setting unit determines whether the offset mode is the initial correction mode (S620).
If it is determined in step S620 that the offset mode is the initial correction mode, the operation prohibition interval setting unit sets the operation prohibition interval as an initial value (S623).
If it is determined in step S620 that the offset mode is not the initial correction mode, the operation prohibition interval setting unit determines whether the offset mode is the correction completion mode (S630).
If it is determined in step S630 that the offset mode is the correction completion mode, the operation prohibition interval setting unit sets the operation prohibition interval as the set value (S633).
The set value may mean a minimum value in a predetermined operation prohibited interval range.
If it is determined in step S630 that the offset mode is not the correction completion mode, the operation prohibition interval setting unit determines whether the offset mode is the incremental recalibration mode (S640).
If it is determined in step S640 that the offset mode is the incremental recalibration mode, the operation inhibition interval setting unit sets the operation inhibition interval to a constant increased value (S643).
If it is determined in step S640 that the offset mode is not the incremental re-correction mode, the operation prohibition period setting unit determines whether the offset mode is the maintenance re-correction mode (S650).
If it is determined in step S650 that the offset mode is the maintenance re-correction mode, the operation prohibition interval setting unit sets the operation prohibition interval to the existing value (S653).
If it is determined in step S650 that the offset mode is not the maintenance re-correction mode, the operation prohibition interval setting unit ends without setting the operation prohibition interval.
As shown in the figure, the process is performed in the order of S620 to S623, S630 to S633, S640 to S643, and S650 to S653, but the present invention is not limited thereto.
For example, steps S650 to S653, S640 to S643, S630 to S633, and S620 to S623 may be performed in this order.
If the step S350 is performed using the above-described steps, the control unit controls the rear wheel steering apparatus based on whether the operation signal is present, whether the rear wheel steering apparatus is normal, the vehicle speed, and the set prohibition period.
For example, the controller may limit the operation of the rear wheel steering apparatus if it is at least one of an off state of an operation signal, an abnormality of a rear wheel steering apparatus, a vehicle speed smaller than a preset vehicle speed,
Alternatively, if the operation signal is ON, the rear-wheel steering apparatus is normal, the vehicle speed is equal to or greater than a preset vehicle speed, and the operation prohibited period is an initial value, a set value, do.
More specifically, the calculation of the rear wheel target steering angle has some different values according to the initial value, the set value, the predetermined value increased value, or the existing value, the prohibition period, and the control unit controls the rear wheel steering apparatus based on the calculated value.
When the steps S310 to S360 are completed and completed, the steering control apparatus according to the embodiment of the present invention may perform steps S310 to S360 again after a predetermined time.
The steering control device according to an embodiment of the present invention for performing the above-described operation further includes an operation prohibited period, and by controlling the rear wheel steering device based on the prohibited period, the rear wheel steering angle control amount, which can be generated in the existing steering control device, The influence of the offset correction function can be minimized in accordance with the occurrence of the change of the running state of the sensor and the change of the offset error of the various sensors.
Hereinafter, a steering control method, which is an operation performed by the steering control apparatus described with reference to Figs. 1 to 6, will be briefly described.
The steering control method according to an embodiment of the present invention includes the steps of prohibiting operation that is a section prohibiting control of a steering angle and a steering angle offset, a front wheel steering angle, a rear wheel steering angle, a yaw rate, a lateral acceleration, A sensing step of sensing at least one of the sections; An arithmetic step of calculating a rear wheel target steering angle based on an addition value of a steering angle and a steering angle offset and an operation prohibited period; Whether or not the initial operation state, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, whether the rear wheel target steering angle corresponds to the second condition, whether the rear wheel steering angle control value corresponds to the third condition, Whether or not the target steering angle corresponds to the fourth condition and whether or not the holding time of the rear wheel target steering angle corresponds to the fifth condition; An offset mode determining step of determining an offset mode as an initial correction mode, a corrected completion mode, an incremental re-correction mode, or a retention re-correction mode based on at least one determination result of the determination unit; An operation prohibited period setting step of setting an operation prohibited period as an irrevability, an initial value, a set value, an increased value or an existing value based on whether the offset mode and the front wheel steering angle correspond to the sixth condition; And a control step of controlling the rear wheel steering apparatus based on whether or not the operating signal, the normal state of the rear wheel steering apparatus, the vehicle speed and the operation prohibited period are set.
The steering control method according to an embodiment of the present invention includes the steps of prohibiting operation that is a section prohibiting control of a steering angle and a steering angle offset, a front wheel steering angle, a rear wheel steering angle, a yaw rate, a lateral acceleration, And a sensing step of sensing one or more of the intervals.
The sensing step senses the steering angle from the sensor connected to the shaft of the vehicle steering apparatus, and can use the value stored in the electronic control unit (ECU) to sense the steering angle offset and the operation sensing section. Further, the front wheel steering angle and the rear wheel steering angle are detected from the sensors connected to the front wheel axle and the rear wheel axle, respectively, and yaw rate, lateral acceleration and vehicle speed can be detected using sensors mounted on the vehicle.
The steering control method according to an embodiment of the present invention may include an arithmetic operation step of calculating a rear wheel target steering angle based on an addition value of the steering angle detected in the sensing step and an offset value of the steering angle offset and an operation prohibition interval.
For example, when the steering angle and the steering angle offset addition value are less than or equal to the operation inhibition interval, the calculation is performed by the sum of the rear wheel feedforward control target steering angle and the rear wheel feedback control, The feedforward control target steering angle can be calculated as zero.
In a rear-wheel steering system in which an offset is present in a sensor for detecting a front wheel steering angle, a yaw rate, and a lateral acceleration in a running condition such as a straight running, the rear wheel steering angle is controlled using an offset- And may also cause offset distortion of the sensor. Accordingly, the performance of the braking device, the steering control device, and the like may be reduced.
This problem can be prevented by calculating the target steering angle of the rear wheel feedforward control at 0 in the calculating step if the sum of the steering angle and the steering angle offset is smaller than or equal to the operation inhibition interval.
For example, when the magnitude of the steering angle and the steering angle offset addition value is larger than the operation inhibition interval, the change of the rear wheel feedforward control target steering angle is linearized Or the rear wheel feedforward control target steering angle can be limited as a whole.
When the magnitude of the steering angle and the steering angle offset addition value is less than or equal to the operation inhibition interval, the feedforward control target steering angle is calculated to be zero in the calculation step. Therefore, when the magnitude of the steering angle and the steering angle offset addition value exceeds the operation inhibition interval, The forward control target steering angle can be a discontinuous value. Such a discontinuous value may cause the behavior of the vehicle to be discontinuous and inconvenience to the vehicle occupant.
The inconvenience caused by this reason is that when the magnitude of the steering angle and the steering angle offset addition value is larger than the operation prohibition interval, the rate of change is limited in the calculating step or the rear wheel feedforward control target steering angle is linearly And can be prevented.
Or, in the calculating step, the operation prohibition period is subtracted from the sum of the rear wheel feedforward control target steering angle and the rear wheel feedback control, thereby restricting the rear wheel feedforward control target steering angle as a whole, thereby preventing the inconvenience caused by the above-mentioned reason.
The steering control method according to an embodiment of the present invention determines whether or not an initial operation is performed, whether the difference between the front wheel steering angle and the rear wheel steering angle is greater than or equal to a predetermined vehicle speed, Whether or not the rear wheel steering angle control value is equal to or less than a predetermined rear wheel feedforward control target steering angle and the holding time of the rear wheel target steering angle corresponds to the second condition, whether or not the rear wheel steering angle control value is equal to or less than a predetermined rear wheel steering angle control value, Whether or not the target position of the steering wheel corresponds to the fourth condition, whether the neutral position difference of the steering apparatus corresponds to the fourth condition, and whether or not the rear wheel target steering angle holding time corresponds to the fifth condition.
For example, the determining step can confirm whether or not the steering control apparatus is initially operated by sensing a predetermined code located in an initial portion of the code programmed to operate the electronic control < Desc / Clms Page number 11 > control unit.
Also, the determination step may determine whether or not the vehicle is traveling straight ahead by determining whether the vehicle speed, the front wheel steering angle, and the rear wheel steering angle correspond to the first condition, but the present invention is not limited thereto.
That is, it is possible to determine whether the vehicle is traveling straight ahead using at least one of the steering angle, the front wheel steering angle, the rear wheel steering angle, the yaw rate, the lateral acceleration, and the vehicle speed sensed in the sensing step.
For example, if the sensed yaw rate is greater than or equal to a predetermined value, the determination step may determine that the vehicle is not traveling straight
In addition, the determining step may determine whether offset correction is necessary by determining whether the neutral position difference of the steering apparatus corresponds to the fourth condition, but the present invention is not limited thereto.
That is, it is possible to determine whether offset correction is necessary using at least one of the neutral position of the steering apparatus, the steering angle, the front wheel steering angle, the rear wheel steering angle, the yaw rate, the lateral acceleration and the vehicle speed.
For example, if the steering apparatus is in neutral position or if the sensed yaw rate is greater than or equal to a predetermined value, then the determining step may determine that offset correction is necessary.
The steering control method according to an embodiment of the present invention includes an offset mode determination step of determining an offset mode as an initial correction mode, a correction completion mode, an increase correction mode or a holding correction mode based on at least one determination result of the determination step .
For example, if the initial operation is determined to be an initial operation, the offset mode determination step may determine the offset mode to be the initial correction mode.
In the second example, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, The offset mode determination step may determine the offset mode as the correction completion mode.
In the third example, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, The offset mode determination step may determine the offset mode to be the incremental recalibration mode or the holding recalibration mode depending on whether or not the holding time of the rear wheel target steering angle corresponds to the fifth condition.
That is, the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, and the neutral position of the steering apparatus corresponds to the fourth condition , And if the retention time of the rear wheel target steering angle corresponds to the fifth condition, the offset mode determination step determines the offset mode to be the incremental recalibration mode.
Alternatively, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, and the neutral position of the steering apparatus corresponds to the fourth condition And the retention time of the rear wheel target steering angle does not correspond to the fifth condition, the offset mode determination step may determine the offset mode to be the maintenance re-correction mode.
In the fourth example, when the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, and the rear wheel steering angle control amount does not correspond to the third condition, The offset mode determining step may determine the offset mode to be the incremental recalibration mode or the holding recalibration mode depending on whether the time corresponds to the fifth condition.
That is, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount does not correspond to the third condition, The offset mode determination step determines the offset mode to be the incremental recalibration mode.
Alternatively, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount does not correspond to the third condition, If the condition is not satisfied, the offset mode determination step can determine the offset mode to be the maintenance correction mode.
For example, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle does not correspond to the second condition, and the holding time of the rear wheel target steering angle corresponds to the fifth condition, The mode determination step may determine the offset mode to be an incremental recalibration mode or a maintenance recalibration mode.
That is, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle does not correspond to the second condition, and the retention time of the rear wheel target steering angle corresponds to the fifth condition, Increase recalibration mode can be determined.
Alternatively, if the vehicle speed, the front wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle does not correspond to the second condition, and the retention time of the rear wheel target steering angle does not correspond to the fifth condition, The mode can be determined as the maintenance re-correction mode.
For example, if the vehicle speed, the front wheel steering angle, and the rear wheel steering angle do not satisfy the first condition, the offset mode determination step may determine the offset mode to be the maintenance re-correction mode.
The steering control method according to an embodiment of the present invention sets the operation prohibited period as non-correction, initial value, set value, increased value or existing value based on whether the offset mode and the front wheel steering angle correspond to the sixth condition And an operation inhibition interval setting step. The predetermined front wheel steering angle may be a maximum value in a range of the set front wheel steering angle.
In the first example, if the offset mode is determined as the correction completion mode, the operation inhibition interval setting step may set the operation inhibition interval as the set value. The set value may be a minimum value in a set operation prohibited period.
In the second example, the offset mode is determined as the initial correction mode, the incremental recalibration mode, or the maintenance recalibration mode. If the front wheel steering angle corresponds to the sixth condition, the operation inhibition interval setting step can set have.
In the third example, if the offset mode is determined as the initial correction mode and the front wheel steering angle does not correspond to the sixth condition, the operation inhibition interval setting step may set the operation inhibition interval as an initial value.
In the fourth example, if the offset mode is determined to be the maintenance re-correction mode and the front wheel steering angle does not correspond to the sixth condition, the operation inhibition interval setting step may set the operation inhibition interval to the existing value.
The existing value may mean an operation prohibited period set in the previous operation.
In the fifth example, if the offset mode is determined to be the incremental recalibration mode and the front wheel steering angle does not correspond to the sixth condition, the operation inhibition interval setting step may set the operation inhibition interval to a certain increased value.
The predetermined amount can be set separately according to conditions such as the vehicle speed, the in-phase or reverse-phase control mode of the rear-wheel steering system, the size of the operation prohibited period, and the operation prohibited period can be extended according to the fifth example.
The steering control method according to an embodiment of the present invention may include a control step of controlling the rear wheel steering apparatus on the basis of whether or not the operation signal, the normal state of the rear wheel steering apparatus, the vehicle speed and the operation prohibition period setting.
For example, if the operation signal is ON, the rear-wheel steering apparatus is normal, the vehicle speed is equal to or greater than a preset vehicle speed, and the operation inhibition period is not correctable, the control step can permit the operation of the rear wheel steering apparatus.
The above-mentioned operating signal may be a signal by a switch for determining whether the rear wheel steering apparatus is operating.
The above-described normal state may mean that the system including the electric wire or the communication apparatus constituting the rear wheel steering apparatus operates normally. For example, the wire means normal operation if there is no disconnection or short circuit, and it may mean that the communication device performs normal operation when communication is smooth.
If the rear wheel steering apparatus is determined to be abnormal, the control step may inhibit the operation of the rear wheel steering apparatus by inhibiting the operation of the arithmetic operation step.
Further, the control step may use the CAN (CAN) communication of the vehicle to transmit the state information, which is at least one of the offset correction of the rear-wheel steering system, the operation prohibited section control mode, the rear wheel target steering angle, It can send out.
In addition, the control step may further include a function of turning off the rear wheel steering unit after storing the sensor offset correction amount or the like in a non-volatile memory (EEPROM) at the start-off time.
In addition, the steering control method of the present invention can perform all the operations performed by the steering control apparatus of the present invention described with reference to Figs. 1 to 6.
While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.
Claims (17)
A detection section for detecting at least one of a steering angle and a steering angle offset, a front wheel steering angle, a rear wheel steering angle, a yaw rate, a lateral acceleration, and an operation prohibition period as a period for prohibiting control of the vehicle speed and rear wheel steering apparatus;
An arithmetic unit operable to calculate a rear wheel target steering angle based on the addition value of the steering angle and the steering angle offset and the operation prohibition period;
Whether or not an initial operation is performed, whether the vehicle speed is equal to or greater than a predetermined vehicle speed and whether a difference between the front wheel steering angle and the rear wheel steering angle corresponds to a first condition that is less than or equal to a preset angle, Whether the rear wheel steering angle control value is equal to or lower than a predetermined rear wheel steering angle control value and the change amount of the rear wheel steering angle control value is less than or equal to a predetermined value, Whether or not the third condition is equal to or less than the predetermined amount of change of the rear wheel steering angle control value, whether or not the neutral position difference of the steering apparatus is equal to or greater than a preset difference value, Whether or not it meets the fifth condition A judging unit for judging the abnormality;
An offset mode determining unit that determines an offset mode as an initial correction mode, a corrected completion mode, an incremental re-correction mode, or a retentive re-correction mode based on at least one determination result of the determination unit;
An operation prohibition period setting unit for setting the operation prohibition period as a non-correction value, an initial value, a set value, an increased value or an existing value based on whether the offset mode and the front wheel steering angle correspond to the sixth condition; And
And a control section for controlling the rear wheel steering apparatus based on whether or not an operation signal is received, whether the rear wheel steering apparatus is normal, the vehicle speed and the operation prohibition section.
Wherein the offset mode determination unit determines,
The rear wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, and the neutral position of the steering apparatus corresponds to the fourth condition And determines the offset mode to be the corrected complete mode.
Wherein the offset mode determination unit determines,
The rear wheel steering angle and the rear wheel steering angle correspond to the first condition, the rear wheel target steering angle corresponds to the second condition, the rear wheel steering angle control amount corresponds to the third condition, and the neutral position of the steering apparatus corresponds to the fourth condition And determines the offset mode to be the incremental re-correction mode or the holding re-correction mode according to whether the holding time of the rear-wheel target steering angle corresponds to the fifth condition.
Wherein the offset mode determination unit determines,
The target steering angle and the rear wheel steering angle satisfy the first condition, the rear wheel target steering angle corresponds to the second condition, and the rear wheel steering angle control amount does not correspond to the third condition, And determines the offset mode to be the incremental recalibration mode or the holding recalibration mode depending on whether the time corresponds to the fifth condition.
Wherein the offset mode determination unit determines,
The target steering angle, the rear wheel steering angle, and the rear wheel steering angle correspond to the first condition and the rear wheel target steering angle does not correspond to the second condition, And determines the offset mode to be an incremental recalibration mode or a maintenance recalibration mode.
Wherein the offset mode determination unit determines,
And determines the offset mode to be the maintenance re-correction mode if the vehicle speed, the front wheel steering angle, and the rear wheel steering angle do not satisfy the first condition.
And the sixth condition is that the front wheel steering angle is not less than a predetermined front wheel steering angle.
Wherein the operation prohibition interval setting unit
And sets the operation prohibition period as a set value if the offset mode is determined as the correction completion mode.
Wherein the operation prohibition interval setting unit
Wherein the offset mode is determined to be the initial correction mode, the increase recalibration mode, or the holding material correction mode, and if the front wheel steering angle corresponds to the sixth condition, the operation prohibition period is set to be uncorrectable.
Wherein the operation prohibition interval setting unit
The offset mode is determined to be the initial correction mode, and if the front wheel steering angle does not correspond to the sixth condition, the operation inhibition period is set to an initial value.
Wherein the operation prohibition interval setting unit
Wherein the offset mode is determined to be a maintenance re-correction mode, and if the front wheel steering angle does not correspond to a sixth condition, the operation prohibition period is set to an existing value.
Wherein the operation prohibition interval setting unit
Wherein the offset mode is determined to be an increase recalibration mode and the operation inhibition period is set to a value increased by a certain amount if the front wheel steering angle does not fall under the sixth condition.
The operation unit,
The target steering angle of the rear wheel feedforward control and the target steering angle of the rear wheel feedback control are calculated to calculate the rear wheel target steering angle. If the steering angle and the steering angle offset addition value are less than or equal to the operation inhibition interval And the rear wheel feedforward control target steering angle is calculated as zero.
The operation unit,
A feedforward control of the rear wheel is calculated by a sum of a target steering angle and a feedback control, and if the magnitude of the steering angle and the steering angle offset addition value is greater than the operation inhibition period, Or the rear wheel feedforward control target steering angle is limited as a whole.
Wherein,
Wherein the rear wheel steering apparatus permits operation of the rear wheel steering apparatus when the operation signal is on, the rear wheel steering apparatus is normal, the vehicle speed is a predetermined vehicle speed or more, and the operation prohibition section is not correctable.
A sensing step of sensing at least one of a steering angle and a steering angle offset, a front wheel steering angle, a rear wheel steering angle, a yaw rate, a lateral acceleration, and an operation prohibition period as a period for prohibiting control of the vehicle speed and rear wheel steering apparatus;
An arithmetic step of calculating a rear wheel target steering angle on the basis of the addition value of the steering angle and the steering angle offset and the operation inhibition period;
Whether or not an initial operation is performed, whether the vehicle speed is equal to or greater than a predetermined vehicle speed and whether a difference between the front wheel steering angle and the rear wheel steering angle corresponds to a first condition that is less than or equal to a preset angle, Whether the rear wheel steering angle control value is equal to or lower than a predetermined rear wheel steering angle control value and the change amount of the rear wheel steering angle control value is less than or equal to a predetermined value, Whether or not the third condition is equal to or less than a predetermined amount of change in the rear wheel steering angle control value, whether or not the difference in the neutral position of the steering apparatus corresponds to a fourth condition equal to or greater than a preset difference value, Whether or not the 5th condition exceeds the maintenance time A determination step of determining or more;
An offset mode determination step of determining an offset mode as an initial correction mode, a correction completion mode, an increase recalibration mode, or a retention re-correction mode based on at least one determination result of the determination step;
Setting an operation prohibited period as an irreversible, initial value, a set value, an increased value or an existing value based on whether the offset mode and the front wheel steering angle correspond to the sixth condition; And
And a control step of controlling the rear wheel steering apparatus based on whether or not an operation signal is received, whether the rear wheel steering apparatus is normal, the vehicle speed, and the operation prohibition period setting.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20190002881A (en) * | 2017-06-30 | 2019-01-09 | 현대모비스 주식회사 | Method for controlling rear wheel steering in vehicle and apparatus thereof |
| KR20200136276A (en) * | 2019-05-27 | 2020-12-07 | 현대자동차주식회사 | Steering control method and apparatus for rear wheel steering system |
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| KR102202752B1 (en) | 2017-06-30 | 2021-01-14 | 현대모비스 주식회사 | Method for controlling rear wheel steering in vehicle and apparatus thereof |
| KR20200136276A (en) * | 2019-05-27 | 2020-12-07 | 현대자동차주식회사 | Steering control method and apparatus for rear wheel steering system |
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