KR101987487B1 - Sensible haptic steering apparatus and method using Motor Driven Power Steering - Google Patents

Abstract

The present invention relates to a steering technique of a vehicle, and more particularly, to a rotary type motor vehicle having a detent feeling which is commonly used when a steering mechanism is required to be adjusted through a current map of the MDPS in a motor driven power steering (MDPS) And to a haptic steering apparatus and method that enable fine adjustment of a steering mechanism using a dial method.

Description

[0001] The present invention relates to a micro-haptic steering apparatus and method using MDPS,

The present invention relates to a steering technique of a vehicle, and more particularly, to a rotary type motor vehicle having a detent feeling which is commonly used when a steering mechanism is required to be adjusted through a current map of the MDPS in a motor driven power steering (MDPS) And to a haptic steering apparatus and method that enable fine adjustment of a steering mechanism using a dial method.

Generally, a steering device is installed to adjust the direction of travel of the vehicle. In the case of such a steering apparatus, a power steering apparatus, which is mostly automatic, is installed. The power steering apparatus is an MDPS (Motor Driven Power Steering) system that uses a hydraulic system using hydraulic pressure and a rotational force of a drive motor, Respectively.

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

A diagram showing the operational flow of the MDPS-type steering apparatus is shown in FIG. Referring to FIG. 1, when the driver steers with the steering device, a column torque is generated, and a torque sensor detects the torque, and the column torque value is input to an electronic control unit (ECU) . When the column torque value is inputted, the electronic control unit assists the driver according to the MDPS assist map stored in advance (120). Accordingly, the torque felt by the driver becomes a constant size (130).

Further, since the assist torque applied to the motor connected to the steering apparatus of the vehicle in accordance with the column torque is determined in advance in the MDPS assist map, a current corresponding to the assist torque is applied to the motor to drive the motor, .

Therefore, steering is performed with a constant steering torque, so there is a disadvantage in that it is difficult to turn to a certain degree.

For example, when driving at full turn, the driver must turn approximately three wheels. However, if it is reduced, it is convenient to reduce driver 's steering number, but it is difficult to make fine steering.

In other words, there is a problem that it is inconvenient and inconvenient to rotate the wheel by only 30 degrees, because it is difficult to confirm whether the steering gear is rotated by 30 degrees or to see the vehicle turning.

1. Korean Patent Publication No. 10-2013-0056007 2. Korean Patent Publication No. 10-2013-0056062 3. Korean Patent Publication No. 10-2009-0128829

It is an object of the present invention to provide a micro-haptic steering apparatus and method using MDPS which can be finely adjusted.

It is another object of the present invention to provide a microhaptic steering apparatus and method using a MDPS capable of freely setting a solution shape even at a small steering angle.

It is another object of the present invention to provide a micro-haptic steering apparatus and method using MDPS, which is also applicable to X-by-wire technology.

The present invention provides a micro-haptic steering system using MDPS capable of fine adjustment in order to achieve the above-described problems.

The fine haptic steering apparatus includes:

handle;

A torque sensor for sensing a column torque corresponding to a steering angle of the handle;

An electronic control unit (ECU) for generating an MDPS current map having a latch function by multiplying an MDPS (Motor Driven Power Steering) assist map having a corresponding assist torque according to a sensed column torque by a haptic gain; And

And a motor driving unit for driving the steering motor according to the generated MDPS current map.

In addition, the MDPS current map may be characterized in that there is a clamping interval for generating a clamping function for each set angle.

Further, the interlocking section may be controlled by the driver or may be adjusted according to the speed of the vehicle.

In addition, the latching section can be removed to eliminate the latching function when the lane of the vehicle suddenly changes.

Further, the parking range may be set to be narrow when the vehicle is parked.

Further, the gear ratio of the steering wheel and the vehicle tire may be set to be 1: 1 so as to match the direction of the steering wheel with the traveling direction of the vehicle.

According to another aspect of the present invention, there is provided a method for controlling a steering angle sensor comprising: a column torque sensing step of sensing a column torque according to a steering angle of a steering wheel; An MDPS current map generation step of generating an MDPS current map having a latch function by multiplying an MDPS (Motor Driven Power Steering) assist map having a corresponding assist torque according to the sensed column torque by a haptic gain; And a steering motor driving step of driving the steering motor in accordance with the generated MDPS current map. The micro-haptic steering method using MDPS is provided.

According to the present invention, it is possible to fine-tune the steering apparatus by implementing a rotary dialing method in which the assist torque corresponding to the column torque sensed according to the steering is multiplied by the haptic gain,

Another advantage of the present invention is that by adding a simple additional logic, it is possible to avoid danger with a small steering angle by eliminating the effect of the lap time sudden change of the lane, and it is possible to narrow the range of the hitch, , And that the gear ratio of the tire and the handle is 1: 1, and that the direction of the steering wheel and the direction of the vehicle can be matched.

In addition, another effect of the present invention is that the present invention can be applied to X-by-wire technology which has no feeling like a joystick when steering.

1 is a conceptual diagram showing a steering process of a general vehicle.
2 is a block diagram of a micro-haptic steering system 200 according to an embodiment of the present invention.
FIG. 3 is a conceptual diagram for implementing the fine adjustment of the fine haptic steering apparatus 200 shown in FIG.
4 is a flowchart illustrating a steering process according to an embodiment of the present invention.

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

Like reference numerals are used for similar elements in describing each drawing.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Should not.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and method for fine haptic steering using MDPS according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 is a block diagram of a micro-haptic steering system 200 according to an embodiment of the present invention. 2, the micro-haptic steering apparatus 200 includes a steering wheel 210, a steering motor 250 for operating the steering wheel 210, and a steering sensor 210 for sensing a column torque according to a steering angle of the steering wheel 210 A torque sensor 220, an electronic control unit (ECU) 230 for generating an MDPS current map by multiplying a motor driven power steering (MDPS) assist map having a corresponding assist torque according to the sensed column torque by a haptic gain, A motor driving unit 240 for driving the steering motor 250 according to the generated MDPS current map, and the like.

The handle 210 determines the traveling direction of the vehicle so as to drive the vehicle in a desired direction inside the vehicle. Of course, although only the handle 210 is shown for the sake of understanding, a steering column (not shown), a rack (not shown), and a pinion (not shown) are configured. Such a handle structure is widely known and will not be described further.

The torque sensor 220 measures the torque generated when the driver turns the handle 210 and turns the wheel through the steering column in an increase of the rack and the pinion. Specifically, it can be measured using the value of the current that is applied to the twist of the shaft by using a magnetic field generated in the current in the form of non-contact attachment to the column.

Also, the torque sensor 220 has an amplification circuit built therein, and information on the detected column torque and / or motor torque is amplified and transmitted to the electronic controller 230.

The electronic controller 230 receives the sensed column torque and generates an MDPS current map by multiplying the MDPS (Motor Driven Power Steering) assist map with the assist torque and the haptic gain, (250), thereby performing the interlocking function at a certain angle.

The steering motor 250 is under the control of the electronic controller 230. The driver is assisted by the steering motor 250 by the steering motor 250 when turning the steering wheel and operates to receive a sense of anchor according to the MDPS current map. As an example of the steering motor 250, the driving motor is located at the center of the column, and is driven by a worm and a worm gear to drive a column (not shown) in a steering column (not shown) as a brush type DC motor. Of course, it is also possible to use other types of motors.

Of course, a motor driving unit 240 for driving the steering motor 250 is configured, and the motor driving unit 240 operates the steering motor 250 under the control of the electronic controller 230.

FIG. 3 is a conceptual diagram for implementing the fine adjustment of the fine haptic steering apparatus 200 shown in FIG. Referring to FIG. 3, as the driver steers using the handle 210, the torque sensor 220 senses the column torque from the steering wheel 210, and the column torque input information 310 is generated.

The electronic controller 230 uses the column torque input information 310 to add the MDPS assist map 320 and the haptic gain 330 by using the multiplier 340.

The MDPS assist map 320 is data that is previously stored in a map in which the assist torque for driving the steering motor 250 is matched with the input column torque.

Further, the haptic gain 330 is preset data having a clamping interval 331 so as to have a sense of urgency at an angle. In the example shown in FIG. 3, a cramp section 331 is set at 30 degrees (333-1), 60 degrees (333-2), and 90 degrees (333-3).

Also, the interlock interval 331 can be set by the driver or can be adjusted according to the speed. Of course, such a clamping interval 331 may be the magnitude of the force.

Of course, this angle and the clamping interval 331 may be implemented by further applying additional logic to the electronic controller 230. [ For example, it is possible to avoid the risk of a small steering angle by eliminating the effect of the lane-changing sudden stoppage. In this case, for example, an algorithm may be designed such that if the steering angle is> 30 then the haptic gain = 1.

In addition, it is possible to narrow the cramp section automatically during parking and to further smooth the fine steering. In this case, for example, designing an algorithm such as if vehicle speed <10 kph then haptic gain = parking mode can be cited.

It is also possible to make the gear ratio of the tire and the handle 1: 1, and match the steering direction of the steering wheel with the traveling direction of the vehicle.

3, an MDPS current map 350 is generated through the multiplication of the MDPS assist map 320 and the haptic gain 330, and the steering motor 250 is driven according to the MDPS current map 350 .

Of course, in the MDPS current map 350, there is a crotch interval for every 30 degrees (350-1), 60 degrees (350-2), and 90 degrees (350-3) for a latch effect.

4 is a flowchart illustrating a steering process according to an embodiment of the present invention. 4, a column torque according to the operation of the handle 210 is generated, and the torque sensor 220 senses this and transmits it to the electronic controller 230 (step S410)

An MDPS current map is generated by multiplying a motor driven power steering (MDPS) assist map having a corresponding assist torque according to the sensed column torque by a haptic gain (step S420).

And drives the steering motor 250 according to the generated MDPS current map (steps S430 and S440).

On the other hand, in X-by-wire, there is no feeling like a joystick when steering. At this time, if the feel of the latch according to one embodiment of the present invention is made through the MDPS current map, the driver can escape from the feeling of a joystick without any feeling.

200: Micro Haptic Steering
210: Handle
220: Torque sensor
230: Electronic Control Unit (ECU)
240:
250: Steering motor
320: MDPS (Motor Driven Power Steering)
330: Haptic gain
350: MDPS current map

Claims (12)

handle;
A torque sensor for sensing a column torque corresponding to a steering angle of the handle;
An electronic control unit (ECU) for generating an MDPS current map having a latch function by multiplying an MDPS (Motor Driven Power Steering) assisting map having a corresponding assist torque according to the sensed column torque by a haptic gain giving a feel of a latch, ; And
And a motor driving unit for driving the steering motor in accordance with the generated MDPS current map,
The MDPS current map has a stall section for generating a staple function for each set angle,
The interlocking interval may be adjusted by the driver or adjusted according to the speed of the vehicle,
Wherein the clamping section is a force magnitude.
delete delete The method according to claim 1,
Wherein the latch section is removed to eliminate the latching function when the lane of the vehicle suddenly changes.
The method according to claim 1,
Wherein the clamping section is set to be narrow when the vehicle is parked.
The method according to claim 1,
Wherein the gear ratio of the steering wheel and the vehicle is set to 1: 1 so as to match the steering direction of the steering wheel with the traveling direction of the vehicle.
A column torque sensing step of sensing a column torque according to a steering angle of the steering wheel;
An MDPS current map generation step of generating an MDPS current map having a latch function by multiplying an MDPS (Motor Driven Power Steering) assisting map having a corresponding assist torque according to the sensed column torque by a haptic gain giving a feeling of an urging; And
And a steering motor driving step of driving the steering motor in accordance with the generated MDPS current map,
The MDPS current map has a stall section for generating a staple function for each set angle,
The interlocking interval may be adjusted by the driver or adjusted according to the speed of the vehicle,
Wherein the clamping zone is a magnitude of a force.
delete delete 8. The method of claim 7,
Wherein the clamping section is removed to eliminate the latching function when the lane of the vehicle suddenly changes.
8. The method of claim 7,
Wherein the locking section is set to be narrow when the vehicle is parked.
8. The method of claim 7,
Wherein the gear ratio of the steering wheel and the vehicle is set to 1: 1 so as to match the steering direction of the steering wheel with the traveling direction of the vehicle.

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