KR101765622B1 - Apparatus and method for estimation steering angle - Google Patents

Apparatus and method for estimation steering angle Download PDF

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Publication number
KR101765622B1
KR101765622B1 KR1020150176049A KR20150176049A KR101765622B1 KR 101765622 B1 KR101765622 B1 KR 101765622B1 KR 1020150176049 A KR1020150176049 A KR 1020150176049A KR 20150176049 A KR20150176049 A KR 20150176049A KR 101765622 B1 KR101765622 B1 KR 101765622B1
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KR
South Korea
Prior art keywords
steering
torque
steering wheel
wheel
angle
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KR1020150176049A
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Korean (ko)
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KR20170068954A (en
Inventor
류상욱
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현대자동차 주식회사
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Priority to KR1020150176049A priority Critical patent/KR101765622B1/en
Publication of KR20170068954A publication Critical patent/KR20170068954A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • 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
    • B62D5/046—Controlling the motor
    • 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
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • 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
    • B60Y2400/30—Sensors
    • B60Y2400/307—Torque sensors
    • 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
    • B60Y2400/40—Actuators for moving a controlled member
    • B60Y2400/418—Power assistance, e.g. servo-motors

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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

The present invention relates to a steering angle estimation apparatus, and more particularly, to a steering angle estimation apparatus and method capable of estimating a steering angle using a torque ripple or a motor position sensor.
To this end, a steering angle estimating apparatus according to an embodiment of the present invention includes: a driving motor for generating a steering assist force for assisting a steering wheel in steering; A torque sensor for detecting a steering torque according to the rotation of the steering wheel; And setting a steering zero point on the basis of the total number of torque ripples according to the full-wheel steering, and setting a steering zero point based on the steering zero point, And a controller for calculating the steering angle through the number of occurrences of the ripple.

Description

[0001] APPARATUS AND METHOD FOR ESTIMATION STEERING ANGLE [0002]

The present invention relates to a steering angle estimating apparatus, and more particularly, to a steering angle estimating apparatus and method capable of estimating a steering angle using a torque ripple or a motor position sensor.

The power steering of the vehicle is a power steering system that helps the driver to operate the steering wheel. In such a power steering, a method using hydraulic pressure is mainly used, but recently, the use of motor driven power steering (MDPS) system, which is a method using motor power, is increasing.

The MDPS system is a system in which a steering motor for generating an auxiliary steering force is installed at a lower portion of a steering wheel shaft, and a steering motor is operated to start a power handle when the vehicle is started. This MDPS system is lightweight, takes up less space and does not require oil change compared to conventional hydraulic power steering systems.

The MDPS system facilitates steering by providing a portion of the steering torque that the driver must apply to the steering wheel when steering the vehicle using an auxiliary power source. That is, the steering intention of the driver is sensed through the torque sensor directly connected to the steering wheel, and the MDPS system receives this signal and assists the driving force by driving the motor to provide an appropriate force in consideration of the current speed of the vehicle and the like. The MDPS system helps to maintain the stability of the vehicle by assisting the driver with great power during parking, stopping or low-speed operation of the vehicle, and assisting only small power when driving at high speed.

The MDPS system is equipped with a steering angle sensor to measure the angle of the steering wheel. In recent years, the application of steering angle sensors has been expanding, but BRICs such as Brazil, Russia, India, and China and other developing countries have difficulties in applying them because of the constraints on vehicle prices. Sales volume in the BRICs area is increasing, but due to rising cost, the steering angle sensor can not be installed, and there is a growing demand for local customers to improve their steering feel.

The matters described in the background section are intended to enhance the understanding of the background of the invention and may include matters not previously known to those skilled in the art.

Embodiments of the present invention provide a steering angle estimation apparatus and method capable of estimating a steering angle using a torque ripple without using a steering angle sensor.

In addition, embodiments of the present invention provide a steering angle estimation apparatus and method that can estimate a steering angle using a motor position sensor without mounting a steering angle sensor.

According to an embodiment of the present invention, a driving motor for generating a steering assist force for assisting a steering wheel in steering; A torque sensor for detecting a steering torque according to the rotation of the steering wheel; And setting a steering zero point on the basis of the total number of torque ripples according to the full-wheel steering, and setting a steering zero point based on the steering zero point, It is possible to provide a steering angle estimating apparatus including a controller for calculating a steering angle through the number of occurrences of ripple.

Also, the controller counts the number of times the torque ripple occurs from the time when the steering wheel is fully turned from the full steering angle to the steering angle of the steering wheel to the time when the steering wheel is steered to the full steering angle, Can be set.

The controller sets the number of occurrences by counting positive when the steering wheel is steered in one direction based on the steering zero point, and sets the number of occurrences to be negative when the steering wheel is steered in the other direction.

The controller may calculate the steering angle based on the total angle, the total number of times, and the number of occurrences of the steering wheel from the time when the full steering is performed to the one direction of the steering wheel to the time when the full steering is performed to the other direction.

In another embodiment of the present invention, a driving motor for generating a steering assist force for assisting a steering wheel in steering; A torque sensor for detecting a steering torque according to the rotation of the steering wheel; A motor position sensor for detecting a rotation angle of the drive motor; And a controller for setting a steering zero point based on the total number of revolutions of the driving motor in accordance with the full-wheel steering based on the steering torque, It is possible to provide a steering angle estimating apparatus including a controller for calculating a steering angle.

Also, the controller counts the number of rotations of the driving motor from the time when the steering wheel is fully turned from the full-turn steering direction to the time when the steering wheel is full-turn steered to the other side to check the total number of rotations, You can set the steering zero.

Also, the controller may calculate the steering angle based on the motor rotation angle and the reduction ratio based on the steering zero point.

According to another embodiment of the present invention, there is provided a method for controlling a steering wheel, comprising: detecting a steering torque according to rotation of a steering wheel; Confirming a full-wheel steering of the steering wheel based on the steering torque; Confirming the total number of torque ripples according to the full-wheel steering; Setting a steering zero point based on the total number of torque ripples; And calculating a steering angle based on the number of occurrences of the torque ripple based on the steering zero point when the steering wheel is steered.

According to another embodiment of the present invention, there is provided a method for controlling a steering wheel, comprising: detecting a steering torque according to rotation of a steering wheel; Confirming a full-wheel steering of the steering wheel based on the steering torque; Confirming the total number of revolutions of the driving motor in accordance with the full-stroke steering; Setting a steering zero point based on the total number of rotations; And calculating a steering angle through a motor rotation angle of the driving motor based on the steering zero point when the steering wheel is steered.

The present invention can estimate the steering angle using the torque sensor or the motor position sensor without mounting the steering angle sensor, thereby reducing the cost and improving the steering performance.

In addition, since the steering angle can be estimated through the control logic without using the steering angle sensor, the MDPS system can be applied to the low-priced model, thereby improving the merchantability.

In addition, effects obtainable or predicted by the embodiments of the present invention will be directly or implicitly disclosed in the detailed description of the embodiments of the present invention. That is, various effects to be predicted according to the embodiment of the present invention will be disclosed in the detailed description to be described later.

1 is a diagram illustrating a steering angle estimating apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a steering angle estimation method according to an embodiment of the present invention.
3 is an exemplary diagram for explaining a steering angle estimation method according to an embodiment of the present invention.
4 is a view showing a steering angle estimating apparatus according to another embodiment of the present invention.
5 is a flowchart illustrating a steering angle estimation method according to another embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an operation principle of an embodiment of a steering angle estimation apparatus and method according to the present invention will be described in detail with reference to the accompanying drawings and description. It should be understood, however, that the drawings and the following detailed description are exemplary and explanatory of various embodiments for effectively illustrating the features of the present invention. Therefore, the present invention should not be limited to the following drawings and descriptions.

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. The terms used below are defined in consideration of the functions of the present invention, which may vary depending on the user, intention or custom of the operator. Therefore, the definition should be based on the contents throughout the present invention.

In order to efficiently explain the essential technical features of the present invention, the following embodiments will appropriately modify, integrate, or separate terms to be understood by those skilled in the art to which the present invention belongs , And the present invention is by no means thereby limited.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Hereinafter, an apparatus and method for estimating a steering angle according to an embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG.

1 is a diagram illustrating a steering angle estimating apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a steering angle estimation apparatus 100 according to an embodiment of the present invention calculates a steering angle using a torque ripple without a steering angle sensor. For this purpose, the steering angle estimation apparatus 100 includes a torque sensor 110, a vehicle speed sensor 120, a controller 130, and a drive motor 140.

The torque sensor 110 detects the torque of the steering wheel. That is, the torque sensor 110 can detect the steering torque according to the rotation of the steering wheel. The torque sensor (110) provides the detected steering torque to the controller (130).

At this time, the steering wheel may include a steering wheel, a steering wheel, and a joystick as means for operating to change the traveling direction of the vehicle according to the driver's will. By manipulation of the steering wheel, the vehicle can be turned to the left or right direction.

The vehicle speed sensor 120 detects the speed of the vehicle and provides it to the controller 130.

The controller 130 confirms the required torque based on the vehicle running information such as the vehicle speed and the steering torque, and controls the driving motor 140 through the current control according to the required torque.

The controller 130 confirms the full-turn steering of the steering wheel based on the steering torque, counts the number of torque ripples according to the full-turn steering, and confirms the total number of times. The controller 130 sets the steering zero point based on the total number of times and calculates the steering angle based on the number of times the torque ripple occurs based on the steering zero point.

For this purpose, the controller 130 may be implemented by one or more microprocessors operating according to the set program, and the set program may be implemented by a program for performing each step included in the steering angle estimation method according to an embodiment of the present invention And may include a series of commands.

The controller 130 will be described in more detail with reference to FIG.

The driving motor 140 is installed on the steering shaft and is driven in accordance with the current applied from the controller 130 to rotate the steering shaft to generate a steering assist force. The drive motor 140 may be a brushless AC (BLAC) motor.

2 is a flowchart illustrating a steering angle estimation method according to an embodiment of the present invention.

Referring to FIG. 2, the controller 130 determines whether startup is on (S210). At this time, the controller 130 can receive a start-up signal from an ignition detector (not shown) to check whether the start-up is on.

The controller 130 detects the steering torque (S220). That is, the controller 130 detects the steering torque when the steering wheel is steered by the driver.

The controller 130 determines whether the steering wheel is in the full turn based on the steering torque (S230). Specifically, the controller 130 determines whether the steering torque is equal to or greater than the reference torque. When the steering wheel makes a full turn, the driving motor 140 contacts the stopper and the steering torque suddenly changes as indicated by reference numerals 310 and 320 in FIG. 3 (a).

The controller 130 can determine whether the absolute value of the steering torque is equal to or greater than the reference torque. The reason why the absolute value of the steering torque is compared with the reference torque is that the sign of the steering torque can be detected as a negative number or a positive number depending on the rotating direction of the steering wheel.

The controller 130 counts the number of occurrences of the torque ripple when the steering wheel is steered by the full-turn based on the steering torque (S240). That is, when the steering torque is equal to or higher than the reference torque, the controller 130 confirms the full-wheel steering, and counts the number of times that the torque ripple occurs when the steering wheel is steered by the full-turn. For example, when the torque ripple is generated as shown in FIG. 3 (b), the controller 130 may graph the torque ripple. As shown in FIG. 3E, The number of torque ripples can be checked by counting.

The controller 130 confirms the steering torque, and determines whether the steering is full-turn based on the determined steering torque (S250). In other words, the controller 130 monitors the steering torque while counting the number of times the torque ripple occurs. The controller 130 can determine the full turn steering time if the absolute value of the monitored steering torque is equal to or greater than the reference steering torque. At this time, if the left fulness is in step S230, the right fulness can be determined in step S250. That is, the controller 130 confirms that the steering torque is positive and can confirm whether the steering wheel is steered to the right side.

If not, the controller 130 returns to step S240 and counts the number of occurrences of the torque ripple.

If the steering wheel is full-steering, the controller 130 counts the number of times the torque ripple occurs and confirms the total number of times the torque ripple occurs (S260). That is, the controller 130 confirms the total number of times the torque ripple occurs until the steering wheel is turned from full-turn to one-side to full-turn. For example, the controller 130 can count the number of times the torque ripple occurs from the time point when the left turn is turned to the right to the time when the right turn is turned to the right as shown in FIG. 3 (b).

The controller 130 sets a steering zero point based on the total number of times (S270). In other words, the controller 130 may divide the total number by two to set the steering zero point. The controller 130 may position the steering wheel to a steering zero based on the number of times the torque ripple has occurred.

The controller 130 calculates the steering angle based on the number of occurrences of the torque ripple based on the steering zero (S280). Specifically, when the steering wheel is steered by the driver at the steering zero, the controller 130 confirms the number of times the torque ripple is generated due to steering of the steering wheel. At this time, when the steering wheel is steered in one direction, the controller 130 sets the number of occurrences by a positive counter to set the number of occurrences. When the steering wheel is steered in the other direction, the controller 130 sets a negative counter to set the number of occurrences. For example, when the steering wheel is steered to the right with respect to the steering zero point as shown in (c) of FIG. 3, the controller 130 sets the number of occurrences by a positive counter 360, A minus counter 370 can set the number of occurrences. That is, when the driver steers the steering wheel to the right, the number of times of occurrence of the torque ripple is 20, and when the steering wheel is steered to the left again and the torque ripple of 15 occurs, the controller 130 can confirm that the number of occurrences is 5 .

The controller 130 calculates the steering angle based on the number of occurrences of the torque ripple. In other words, the controller 130 calculates the steering angle based on the total angle, the total number of times, and the number of occurrences of the steering wheel from the time when the full steering is performed to the one direction of the steering wheel to the time when the full steering is performed to the other direction. That is, the controller 130 can calculate the steering angle through Equation (1).

[Equation 1]

SA = (TA / TN) * HN

Here, SA represents the steering angle, TA represents the total angle, TN represents the total number of times, and HN represents the number of occurrences. For example, when the total angle is 1080, the total number of times is 540, and the number of occurrences is 5, the steering angle may be 10 using Equation (1).

Thereafter, the controller 130 may improve the steering performance by performing the MDPS control logic based on the steering angle calculated in step S280.

Accordingly, the steering angle estimating apparatus 100 according to the embodiment of the present invention can estimate the steering angle based on the number of torque ripples generated from the full-turn to the full-turn without a separate steering angle sensor, The steering feel can be improved.

Hereinafter, an apparatus and method for estimating a steering angle according to another embodiment of the present invention will be described with reference to FIGS. 4 and 5. FIG.

4 is a view showing a steering angle estimating apparatus according to another embodiment of the present invention.

Referring to FIG. 4, the steering angle estimation apparatus 100 according to another embodiment of the present invention includes a torque sensor 110, a vehicle speed sensor 120, a steering angle sensor 120, a steering angle sensor 120, A controller 130, a drive motor 140, and a motor position sensor 150.

The torque sensor 110 detects the steering torque according to the rotation of the steering wheel steered by the driver and provides the steering torque to the controller 130.

The vehicle speed sensor 120 detects the speed of the vehicle and provides it to the controller 130.

When the driver steers the steering wheel, the controller 130 confirms the required torque based on the steering torque, the vehicle speed, and the like, and controls the driving motor 140 through the current control according to the required torque. The controller 130 confirms the full-turn steering of the steering wheel based on the steering torque and confirms the total number of rotations of the driving motor 140 from one side of the full-turn to the other side of the fulcrum. The controller 130 sets the steering zero point based on the total number of rotations and calculates the steering angle through the motor rotation angle of the driving motor 140 based on the steering zero point.

For this purpose, the controller 130 may be implemented by one or more microprocessors operating according to the set program, and the set program may be implemented by a program for performing each step included in the steering angle estimation method according to an embodiment of the present invention And may include a series of commands.

The controller 130 will be described in more detail with reference to FIG.

The driving motor 140 is installed on the steering shaft and is driven by a current controlled by the controller 130 to rotate the steering shaft to generate a steering assist force for assisting rotation of the steering wheel.

The motor position sensor 150 is provided at one side of the driving motor 140 and detects the rotation angle of the driving motor 140 rotating to the controller 130. The motor position sensor 150 provides the detected rotation angle of the drive motor 140 to the controller 130.

5 is a flowchart illustrating a steering angle estimation method according to another embodiment of the present invention.

Referring to FIG. 5, the controller 130 determines whether startup is on (S510).

On the other hand, the controller 130 monitors whether the startup is on when the startup is off.

The controller 130 detects the steering torque of the steering wheel operated by the driver (S520).

The controller 130 confirms whether or not full-turn steering is performed based on the steering torque (S530). That is, the controller 130 determines whether the steering torque is equal to or greater than the reference torque, and confirms whether the steering wheel is steered by the full steering wheel. At this time, the controller 130 can compare the absolute value of the steering torque with the reference torque. The reason why the absolute value of the steering torque is used is that the sign may differ depending on the direction of the steering wheel. That is, the controller 130 can confirm the steering wheel's direction based on the negative or positive number of the steering torque. For example, if the steering torque is negative, it can be assumed that the steering wheel has rotated to the left, and if the steering torque is positive, the steering wheel has rotated to the right.

On the other hand, if the steering torque is not steering by the full-turn steering, the controller 130 returns to step S520 and detects the steering torque.

The controller 130 counts the number of revolutions of the driving motor 140 when the steering wheel is steered by the full turn (S540). In other words, when the absolute value of the steering torque is equal to or greater than the reference torque, the controller 130 confirms the full turn steering time. The controller 130 counts the number of rotations of the driving motor 140 when the steering wheel is steered by the full-turn.

The controller 130 detects the steering torque again, and confirms whether the detected steering torque is the full-wheel steering (S550). That is, the controller 130 confirms whether the steering wheel is steered in the direction opposite to the direction detected in step S520. At this time, if the sign of the steering torque detected in step S520 and the sign of the steering torque confirmed in step S550 are opposite to each other, the controller 130 can confirm whether the steering wheel is steered in the opposite direction. For example, if a negative steering torque is detected in step S520, the controller 130 can confirm whether the steering wheel is steered in the opposite direction by checking whether the steering torque is positive.

The controller 130 checks again whether the detected steering torque is equal to or greater than the reference torque and confirms whether or not it is the full-wheel steering.

On the other hand, if the detected steering torque is not the steering angle, the controller 130 returns to step S540 and counts the number of rotations of the driving motor 140.

The controller 130 confirms the total number of the driving motors 140 if the detected steering torque is steering by the full-turn (S560). That is, the controller 130 confirms the total number of rotations of the driving motor 140 until the steering wheel is fully turned from the full-turn steering direction to the other direction.

The controller 130 sets the steering zero point based on the total number of the driving motors 140 (S570). In other words, the controller 130 sets the steering zero point by dividing the total number of the driving motors 140 by two.

When the driver rotates the steering wheel, the controller 130 calculates the steering angle through the rotation angle of the driving motor 140 based on the steering zero (S580). In other words, the controller 130 detects the rotation angle of the driving motor 140 based on the steering zero when the steering wheel rotates by the driver, and calculates the steering angle based on the detected rotation angle and the reduction ratio. At this time, the controller 130 may calculate the steering angle by dividing the reduction ratio by the rotation angle.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the invention as defined in the appended claims. It will be understood that the invention may be varied and varied without departing from the scope of the invention.

100: steering angle estimating device
110: Torque sensor
120: vehicle speed sensor
130:
140: drive motor
150: Motor position sensor

Claims (16)

A driving motor for generating a steering assist force for assisting the steering wheel in steering;
A torque sensor for detecting a steering torque according to the rotation of the steering wheel; And
A full-turn steering of the steering wheel is confirmed on the basis of the steering torque, a steering zero point is set based on the total number of torque ripples according to the full-turn steering, and a torque ripple A controller for calculating a steering angle through the number of occurrences of the steering angle;
, ≪ / RTI &
The controller counts the number of occurrences of torque ripple from the time when the steering wheel is fully turned from the full steering angle to the steering angle of the steering wheel to the time when the steering wheel is fully turned steering to the other side to check the total number of times, and sets the steering zero point based on the total number Steering angle estimating device. delete The method according to claim 1,
The controller
Wherein the number of occurrences is set by positive counting when the steering wheel is steered in one direction on the basis of the steering zero point, and when the steering wheel is steered in the other direction, a negative number is counted to set the number of occurrences. The method according to claim 1,
The controller
And calculating a steering angle based on a total angle, a total number of times, and the number of occurrences of the steering wheel from the time when the steering wheel is fully turned from the full steering direction to the direction toward the other side. delete delete delete Detecting a steering torque due to rotation of the steering wheel;
Confirming a full-wheel steering of the steering wheel based on the steering torque;
Confirming the total number of torque ripples according to the full-wheel steering;
Setting a steering zero point based on the total number of torque ripples; And
Calculating a steering angle based on the number of occurrences of the torque ripple based on the steering zero point when the steering wheel is steered;
, ≪ / RTI &
The step of confirming the total number of torque ripples according to the full-
And counting the number of times the torque ripple occurs from the time when the steering wheel is fully turned from the full steering angle to the steering angle of the steering wheel to the time when the steering wheel is steered to the other side, thereby confirming the total number of steering torque. delete 9. The method of claim 8,
When the steering wheel is steered, calculating the steering angle based on the number of times of occurrence of the torque ripple based on the steering zero point
Counting the number of occurrences when the steering wheel is steered in one direction based on the steering zero; And
Counting a negative number when the steering wheel is steered in the other direction based on the steering zero;
The steering angle estimating method comprising: 9. The method of claim 8,
When the steering wheel is steered, calculating the steering angle based on the number of times of occurrence of the torque ripple based on the steering zero point
Calculating a steering angle based on a total angle, a total number of times, and the number of occurrences of the steering wheel from a time when the vehicle is steered from the full turn to one direction of the steering wheel to a time when the vehicle is steered to the other direction. 12. The method of claim 11,
Wherein the steering angle is calculated by the following equation (1).
Here, Equation (1)
SA = (TA / TN) * HN
ego,
SA is the steering angle, TA is the total angle, TN is the total number, and HN is the number of occurrences. delete delete delete delete
KR1020150176049A 2015-12-10 2015-12-10 Apparatus and method for estimation steering angle KR101765622B1 (en)

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KR101765622B1 true KR101765622B1 (en) 2017-08-07

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