KR102397099B1 - Apparatus and method for controlling steering - Google Patents

Abstract

This embodiment relates to a steering control apparatus and method. The steering control device obtains vehicle-related information including vehicle state information and vehicle surrounding environment information through the vehicle information acquisition module, and extracts vehicle status information and vehicle surrounding environment information through the steering control module, A validity check may be performed on the extracted surrounding environment information of the vehicle to calculate an effective value of the surrounding environment of the vehicle, and a steering force may be generated based on the calculated value of the surrounding environment of the effective vehicle.

Description

Steering control device and method

This embodiment relates to a steering system, and more particularly, to a steering control apparatus and method.

In general, a steering system refers to a system capable of changing a steering angle of a wheel based on a steering force (or rotational force) applied to a steering wheel by a driver of a vehicle. Recently, an electric power steering system (EPS), that is, an electric power steering system, has been applied to a vehicle in order to reduce the steering force of the steering wheel to ensure the stability of the steering state.

The electric power steering system drives a motor using the speed or torque state of the vehicle measured through a sensor mounted on the vehicle to provide a light and comfortable steering feel for the driver of the vehicle during low-speed driving, It is possible to provide a heavy and safe steering feel, and an optimal steering state so that the driver of the vehicle can quickly steer in an emergency.

However, such a conventional electric power steering system drives the motor using only the speed or torque state of the vehicle, regardless of the surrounding environment of the vehicle (eg, sunny days, cloudy days, rainy days, dark days, etc.) There is a problem in that it is not possible to provide a steering force that actively responds to the surrounding environment of the vehicle by generating the steering force.

In addition, since the conventional electric power steering system reflects the information measured by the sensor to the steering force without validating it, there is a problem in that the reliability of the information measured by the sensor is lowered, and thus a stable steering force cannot be provided.

This embodiment has been devised to solve the above-described problem, and an object of the present embodiment is to provide a steering force that actively responds to the surrounding environment of the vehicle, as well as to increase the reliability of the information measured by the sensor to be stable An object of the present invention is to provide a steering control device capable of providing steering force.

In addition, an object of this embodiment for solving the above problems is to provide a steering force that actively responds to the surrounding environment of the vehicle, and to provide a stable steering force by increasing the reliability of information measured by the sensor. An object of the present invention is to provide a steering control method that can be used.

In order to achieve the above object, one aspect of the present embodiment is to measure the state of the vehicle and the surrounding environment of the vehicle through each sensor, and based on this, related to the vehicle including the state information of the vehicle and the surrounding environment information of the vehicle A vehicle information acquisition module for acquiring information and vehicle-related information are provided from the vehicle information acquisition module to extract vehicle state information and vehicle surrounding environment information, and validation is performed on the extracted surrounding environment information of the vehicle to calculate the surrounding environment value of the effective vehicle, and generate a steering force based on the vehicle speed information and the torque information of the vehicle among the extracted vehicle state information together with the calculated surrounding environment value of the effective vehicle to drive the steering motor It is to provide a steering control device including a steering control module that

In order to achieve the above object, one aspect of the present embodiment is to measure the state of the vehicle and the surrounding environment of the vehicle through each sensor, and based on this, related to the vehicle including the state information of the vehicle and the surrounding environment information of the vehicle obtaining information, extracting state information of the vehicle and surrounding environment information of the vehicle from among the obtained vehicle-related information, and performing a validation check on the extracted surrounding environment information of the vehicle to obtain a valid surrounding environment value of the vehicle Steering control comprising the steps of calculating and driving a steering motor by generating a steering force based on vehicle speed information and vehicle torque information among the extracted state information of the vehicle together with the calculated effective surrounding environment value of the vehicle to provide a way

According to the steering control device of the present embodiment as described above, the ambient environment value of the vehicle (for example, at least one of the ambient illuminance value of the vehicle, the ambient rainfall value of the vehicle, and the ambient snow value of the vehicle, etc.) Since it is reflected in the steering force, it is possible to provide steering force that actively responds to the surrounding environment of the vehicle, and the steering force after validation of the information measured by the sensor (eg, vehicle state information and vehicle surrounding environment information, etc.) This has the effect of providing a stable steering force by increasing the reliability of the steering control device.

1 is an overall block diagram for explaining a steering control apparatus according to the present embodiment.
2 is a conceptual diagram for explaining a steering control apparatus according to the present embodiment.
3 is a conceptual diagram for explaining a process of generating an assist current applied to the steering control apparatus according to the present embodiment.
4 is an overall flowchart for explaining the steering control method according to the present embodiment.
5 is a detailed flowchart for explaining the steering control method according to the present embodiment.
6 is a detailed flowchart for explaining a method of controlling steering by using ambient illuminance of a vehicle according to the present embodiment.
7 is a detailed flowchart for explaining a method of controlling steering using ambient rainfall of a vehicle according to the present embodiment.
8 is a detailed flowchart for explaining a method of controlling steering using snow around the vehicle according to the present embodiment.
9 is a detailed flowchart for explaining a method of controlling steering using ambient illuminance of the vehicle, ambient rainfall, and ambient snowfall of the vehicle according to the present embodiment.
10 is a detailed flowchart for explaining a method of sequentially processing sensor information applied to a method of controlling steering using ambient illuminance of the vehicle, ambient rainfall and ambient snowfall of the vehicle according to the present embodiment.
11 is a detailed flowchart for explaining a method of sequentially determining the presence or absence of a failure of each sensor applied to the method of controlling steering using the ambient illuminance of the vehicle, the ambient rainfall of the vehicle, and the ambient snowfall according to the present embodiment.
12 is a flowchart for explaining a method of sequentially calculating effective ambient environment values of a vehicle applied to a method of controlling steering using ambient illuminance of the vehicle, ambient rainfall and ambient snowfall of the vehicle according to the present embodiment.
13 is a block diagram showing the configuration of the steering control apparatus according to the present embodiment.

Hereinafter, advantages and features of the present embodiment, and a method of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, this embodiment is not limited to the embodiments disclosed below, but will be implemented in various different forms, only the present embodiments allow the disclosure of the present embodiment to be complete, and common knowledge in the technical field to which this embodiment belongs It is provided to fully inform those who have the scope of the invention, and this embodiment is only defined by the scope of the claims. Like reference numerals refer to like elements throughout. “and/or” includes each and every combination of one or more of the recited items.

It should be understood that although first, second, etc. are used to describe various elements, components, and/or sections, these elements, components, and/or sections are not limited by these terms. These terms are only used to distinguish one element, component, or sections from another. Therefore, it goes without saying that the first element, the first element, or the first section mentioned below may be the second element, the second element, or the second section within the spirit of the present embodiment.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present embodiment. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, "comprises" and/or "comprising" refers to the presence of one or more other components, steps, operations and/or elements mentioned. or addition is not excluded.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those of ordinary skill in the art to which this embodiment belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless clearly defined in particular.

In addition, in describing the embodiments of the present embodiment, if it is determined that a detailed description of a well-known function or configuration may unnecessarily obscure the gist of the present embodiment, the detailed description thereof will be omitted. In addition, the terms to be described later are terms defined in consideration of functions in the embodiment of the present embodiment, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the content throughout this specification.

Hereinafter, the steering control apparatus of this embodiment will be described with reference to the accompanying drawings.

1 is an overall block diagram for explaining a steering control apparatus according to the present embodiment.

Referring to FIG. 1 , the steering control apparatus according to the present embodiment may largely include a vehicle information acquisition module 100 , a steering control module 200 , and the like.

The vehicle information acquisition module 100 may be disposed on one side of the vehicle. In addition, the vehicle information acquisition module 100 may include at least one sensor. In addition, the vehicle information acquisition module 100 may measure the state of the vehicle and the surrounding environment of the vehicle through each sensor.

Here, each of the sensors may include at least one of a vehicle speed sensor 111 , a torque sensor 112 , and a steering angle sensor 113 capable of measuring the state of the vehicle, but is not limited thereto. Any sensor capable of measuring a state may be included.

Here, each of the sensors may include at least one of an illuminance sensor 114, a rainfall sensor 115, and a snowfall sensor 116 capable of measuring the internal and external surroundings of the vehicle, but is not limited thereto. Any sensor capable of measuring the internal and external surroundings of the vehicle may be included.

In addition, the vehicle information acquisition module 100 may acquire vehicle-related information including state information of the vehicle and information on the surrounding environment of the vehicle based on the condition of the vehicle and the surrounding environment of the vehicle measured by each sensor. In addition, the vehicle information acquisition module 100 may provide the acquired vehicle-related information to the steering control module 200 to be described later.

Here, the vehicle state information may include vehicle speed information, vehicle torque information, and vehicle steering angle information that may indicate the vehicle state, but is not limited thereto, and any information that can indicate the state of the vehicle may also include

Here, the surrounding environment information of the vehicle may include at least one of ambient illuminance information of the vehicle, surrounding rainfall information of the vehicle, and ambient strength information of the vehicle, which may indicate the internal and external surrounding environment of the vehicle, but is not limited thereto. Any information that can represent the internal and external surroundings may be included.

Here, the state information of the vehicle and the surrounding environment information of the vehicle may be direct values measured by each sensor, but is not limited thereto, and may be a value generated by combining direct values measured by each sensor.

The steering control module 200 may be disposed on one side of the vehicle. Also, the steering control module 200 may be connected to the vehicle information acquisition module 100 . Also, the steering control module 200 may receive vehicle-related information from the vehicle information acquisition module 100 .

Here, the steering control module 200 may include an Electronic Control Unit (ECU), but is not limited thereto, and may include any control device as long as it can control steering.

Also, the steering control module 200 may extract state information of the vehicle and surrounding environment information of the vehicle from among the vehicle-related information provided from the vehicle information acquisition module 100 . In addition, the steering control module 200 may calculate a valid surrounding environment value of the vehicle by performing a validity check on the extracted surrounding environment information of the vehicle.

Also, the steering control module 200 may generate a steering force by using the calculated effective value of the surrounding environment of the vehicle and vehicle speed information and torque information of the vehicle among the extracted vehicle state information.

Here, the torque information of the vehicle among the extracted vehicle state information may be information calculated based on phase compensation of the extracted torque information of the vehicle.

Also, the steering control module 200 may be connected to a steering motor. Also, the steering control module 200 may provide the generated steering force (eg, the first steering force) to the steering motor. That is, the steering control module 200 may drive the steering motor based on the generated steering force (eg, the first steering force).

Here, the steering force is a force (eg, current) capable of driving the steering motor, and is an assist (auxiliary) steering force, an assist control current, an assist current, or an assist force ( assist force).

In addition, the steering control module 200 includes a steering force (eg, first steering force) for driving a steering motor, and a steering force calculated based on vehicle speed information and vehicle steering angle information among the extracted vehicle state information (for example, , a second steering force) may be added to drive the steering motor.

Specifically, the steering control module 200 may extract vehicle speed information and vehicle steering angle information from the vehicle state information provided from the vehicle information acquisition module 100 . In addition, the steering control module 200 may return control (restore control) the extracted vehicle speed information and vehicle steering angle information, and generate a steering force (eg, a second steering force) based thereon. .

And, the steering control module 200 is a steering force generated using the above-described calculated effective value of the surrounding environment of the vehicle and the vehicle speed information and the torque information of the vehicle among the extracted vehicle state information (eg, the first 1 steering force), a steering force (eg, second steering force) generated using vehicle speed information and vehicle steering angle information among the extracted vehicle state information is added (eg, summed), and steering based on this can drive the motor.

As described above, the steering control apparatus according to the present embodiment acquires vehicle-related information including state information of the vehicle and surrounding environment information of the vehicle through the vehicle information obtaining module, and obtains the vehicle state through the steering control module Extracting information and surrounding environment information of the vehicle, performing a validation check on the extracted surrounding environment information of the vehicle to calculate a valid surrounding environment value of the vehicle, and calculating a steering force based on the calculated surrounding environment value of the effective vehicle By generating, the vehicle's surrounding environment value is reflected in the steering force, so it is possible to provide a steering force that actively responds to the vehicle's surrounding environment, as well as information measured by the sensor (eg, vehicle state information and vehicle's surrounding environment). information, etc.) is reflected in the steering force, so it is possible to provide a stable steering force by increasing the reliability of the steering control device.

Continuing to refer to FIG. 1 , the vehicle information acquisition module 100 may measure the state of the vehicle and the surrounding environment of the vehicle through each sensor. In addition, the vehicle information acquisition module 100 may generate vehicle status information and vehicle surrounding environment information based on the measured vehicle status and surrounding environment of the vehicle.

In addition, the vehicle information acquisition module 100 may acquire vehicle-related information including each sensor identification information together with the generated vehicle state information and vehicle surrounding environment information. Also, the vehicle information acquisition module 100 may provide the acquired vehicle-related information to the steering control module 200 .

Here, each of the sensor identification information may be a specific ID and signal information of a controller area network (CAN).

Here, the respective sensor identification information may be information capable of identifying (or discriminating) each sensor, or information capable of identifying each information included therein among the obtained vehicle-related information.

For example, each of the sensor identification information includes sensor name information, sensor password information, sensor serial number information, sensor type information, sensor manufacturer information, sensor model information, sensor version information, and sensor labeling. It may include, but is not limited to, information of at least one of the person in charge information and the production date information of the sensor, but is not limited thereto, and may include any identification information as long as it is identification information that can identify the sensor or information.

Also, the steering control module 200 may receive vehicle-related information from the vehicle information acquisition module 100 . In addition, the steering control module 200 may extract each sensor identification information together with vehicle state information and vehicle surrounding environment information based on vehicle-related information provided from the vehicle information acquisition module 100 .

In addition, the steering control module 200 performs a validation check on the extracted state information of the vehicle and the surrounding environment information of the vehicle for each sensor based on the extracted respective sensor identification information to determine whether each sensor is faulty. can be identified.

In addition, the steering control module 200 may calculate an effective value of the surrounding environment of the vehicle and an effective value of the state information of the vehicle according to the determination result of each sensor failure.

In one example, the steering control module 200 determines whether each sensor is faulty - when each of the sensors is normal, the extracted vehicle state information and vehicle ambient environment information are converted to a valid vehicle ambient environment value and a valid vehicle ambient environment value. It can be calculated as the vehicle's state information value.

In another example, the steering control module 200 determines whether each sensor is faulty - when each sensor is faulty, a preset vehicle state value and a vehicle surrounding environment value are displayed as a valid surrounding environment value and a valid vehicle surrounding environment value. It can be calculated as the vehicle's state information value. Here, the preset value described above or to be described later may be a default value.

In another example, the steering control module 200 may calculate a preset vehicle as a valid vehicle state information value when the respective sensor failure determination result - when each sensor is defective. That is, the value of the surrounding environment of the vehicle may not be calculated.

In addition, the steering control module 200 is configured to provide a steering force (for example, a first steering force ) can be created. Also, the steering control module 200 may drive the steering motor based on the generated steering force (eg, the first steering force).

In addition, the steering control module 200 is a steering force (for example, the first steering force) for driving the steering motor, and the calculated steering force ( For example, the steering motor may be driven by adding a second steering force).

As described above, the steering control apparatus according to the present embodiment acquires vehicle-related information including each sensor identification information along with the vehicle's state information and the vehicle's surrounding environment information through the vehicle information acquisition module, and steers Through the control module, each sensor identification information is extracted together with the vehicle's state information and the vehicle's surrounding environment information, and validation is performed on the extracted vehicle's state information and the vehicle's surrounding environment information for each sensor. It determines whether the sensor of the vehicle is faulty and generates steering force based on the value of the valid vehicle's surrounding environment calculated according to the determination result and the valid vehicle's condition information. In addition to providing a more actively responsive steering force, the information measured by the sensor (for example, vehicle state information and vehicle surrounding environment information, etc.) is reflected in the steering force after validation for reliability of the steering control device. can be increased to provide stable steering force.

Continuing to refer to FIG. 1 , each sensor of the vehicle information acquisition module 100 applied to the steering control apparatus of the present embodiment may include an illuminance sensor 114 .

The vehicle information acquisition module 100 may measure ambient illuminance of the vehicle through the illuminance sensor 114 . Also, the vehicle information acquisition module 100 may generate peripheral illuminance information of the vehicle based on the measured peripheral illuminance of the vehicle.

In addition, the vehicle information acquisition module 100 may acquire peripheral environment information of the vehicle including identification information of the illuminance sensor together with the generated peripheral illuminance information of the vehicle. In addition, the vehicle information acquisition module 100 may acquire the vehicle-related information including the acquired surrounding environment information of the vehicle and the state information of the vehicle. Vehicle-related information may be provided to the steering control module 200 .

Here, the identification information of the illuminance sensor may be a specific ID and signal information of a controller area network (CAN) indicating the illuminance sensor.

Here, the identification information of the illuminance sensor may be information that can identify (or distinguish) the illuminance sensor, and information that can identify each of the peripheral illuminance information of the vehicle included therein among the obtained surrounding environment information of the vehicle can be

For example, the identification information of the illuminance sensor includes name information of the illuminance sensor, password information of the illuminance sensor, serial number information of the illuminance sensor, type information of the illuminance sensor, manufacturer information of the illuminance sensor, model information of the illuminance sensor, illuminance sensor version information of the illuminance sensor, and at least any one of information on the production date of the illuminance sensor and the labeling information of the illuminance sensor, but is not limited thereto, and any identification information that can identify the illuminance sensor or ambient illuminance information It may also include identification information.

Also, the steering control module 200 may receive vehicle-related information from the vehicle information acquisition module 100 . In addition, the steering control module 200 may extract identification information of the illuminance sensor together with the vehicle state information and ambient illuminance information of the vehicle based on the vehicle-related information provided from the vehicle information acquisition module 100 .

In addition, the steering control module 200 may determine whether the illuminance sensor is malfunctioning by performing a validity check on the extracted ambient illuminance information of the vehicle for each illuminance sensor based on the extracted identification information of the illuminance sensor.

Also, the steering control module 200 may calculate an effective ambient illuminance value of the vehicle according to the result of determining whether the illuminance sensor is faulty.

In one example, the steering control module 200 may calculate the extracted ambient illuminance information of the vehicle as a valid ambient illuminance value of the vehicle when the illuminance sensor malfunction determination result - when the illuminance sensor is normal.

In another example, the steering control module 200 may calculate a preset ambient illuminance value of the vehicle as a valid ambient illuminance value when the illuminance sensor is defective as a result of determining whether the illuminance sensor is malfunctioning.

In another example, the steering control module 200 may not calculate an effective ambient illuminance value of the vehicle when the illuminance sensor is defective as a result of determining whether the illuminance sensor is defective. That is, the preset peripheral illuminance value of the vehicle may be 0.

In addition, the steering control module 200 determines a steering force (eg, a first steering force) based on vehicle speed information and vehicle torque information among the extracted vehicle state information together with the calculated effective vehicle ambient illuminance value. can create Also, the steering control module 200 may drive the steering motor based on the generated steering force (eg, the first steering force).

In addition, the steering control module 200 includes a steering force (eg, first steering force) for driving a steering motor, and a steering force calculated based on vehicle speed information and vehicle steering angle information among the extracted vehicle state information (for example, , a second steering force) may be added to drive the steering motor.

As described above, the steering control apparatus according to the present embodiment acquires vehicle-related information including identification information of an illuminance sensor together with ambient illuminance information of the vehicle through the vehicle information acquisition module, and obtains vehicle-related information through the steering control module The identification information of the illuminance sensor is extracted along with the state information of the vehicle and the ambient illuminance information of the vehicle, and the validity check is performed on the extracted peripheral illuminance information of the vehicle for each illuminance sensor to determine whether the illuminance sensor is malfunctioning, and according to the determination result By generating a steering force based on the calculated effective ambient illuminance value of the vehicle, the vehicle's ambient illuminance value is reflected in the steering force, so it is possible to provide steering force that actively responds to the vehicle's peripheral illuminance value, as well as information measured by the sensor (For example, it is possible to provide a stable steering force by increasing the reliability of the steering control device since it is reflected in the steering force after validation of the vehicle's state information and the vehicle's surrounding environment information, etc.).

Each sensor of the vehicle information acquisition module 100 applied to the steering control apparatus according to the present embodiment may include a rain sensor 115 .

The vehicle information acquisition module 100 may measure the surrounding rainfall of the vehicle through the rainfall sensor 115 . In addition, the vehicle information acquisition module 100 may generate the surrounding rainfall information of the vehicle based on the measured surrounding rainfall of the vehicle.

In addition, the vehicle information acquisition module 100 may acquire the surrounding environment information of the vehicle including the identification information of the rainfall sensor together with the generated surrounding rainfall information of the vehicle. In addition, the vehicle information acquisition module 100 may acquire the vehicle-related information including the acquired surrounding environment information of the vehicle and the state information of the vehicle. Vehicle-related information may be provided to the steering control module 200 .

Here, the identification information of the rainfall sensor may be a specific ID and signal information of a controller area network (CAN) indicating only the rainfall sensor.

Here, the identification information of the rainfall sensor may be information capable of identifying (or discriminating) the rainfall sensor, and information capable of identifying each of the surrounding rainfall information of the vehicle included therein among the obtained surrounding environment information of the vehicle. can be

For example, the identification information of the rainfall sensor may include name information of the rainfall sensor, password information of the rainfall sensor, serial number information of the rainfall sensor, type information of the rainfall sensor, manufacturer information of the rainfall sensor, model information of the rainfall sensor, rainfall sensor version information, information in charge of labeling of the rain sensor, and information on at least any one of the production date information of the rain sensor, etc., but is not limited thereto. It may also include identification information.

Also, the steering control module 200 may receive vehicle-related information from the vehicle information acquisition module 100 . In addition, the steering control module 200 may extract identification information of the rainfall sensor together with vehicle status information and surrounding rainfall information of the vehicle based on vehicle-related information provided from the vehicle information acquisition module 100 .

In addition, the steering control module 200 may determine whether the rain sensor is malfunctioning by performing a validity check on the extracted surrounding rainfall information of the vehicle for each rainfall sensor based on the extracted identification information of the rain sensor.

In addition, the steering control module 200 may calculate an effective ambient rainfall value of the vehicle according to the determination result of whether the rain sensor is faulty.

In an example, the steering control module 200 may calculate the extracted ambient rainfall information of the vehicle as a valid ambient rainfall value of the vehicle when the rain sensor failure determination result - when the rain sensor is normal.

In another example, the steering control module 200 may calculate a preset ambient rainfall value of the vehicle as a valid ambient rainfall value of the vehicle when the rain sensor failure determination result - when the rain sensor is malfunctioning.

In another example, the steering control module 200 may not calculate a valid ambient rainfall value of the vehicle when the rain sensor is faulty - if the rain sensor is faulty. That is, the preset ambient rainfall value of the vehicle may be 0.

In addition, the steering control module 200 determines a steering force (for example, a first steering force) based on vehicle speed information and vehicle torque information among the extracted vehicle state information together with the calculated effective vehicle ambient rainfall value. can create Also, the steering control module 200 may drive the steering motor based on the generated steering force (eg, the first steering force).

In addition, the steering control module 200 includes a steering force (eg, first steering force) for driving a steering motor, and a steering force calculated based on vehicle speed information and vehicle steering angle information among the extracted vehicle state information (for example, , a second steering force) may be added to drive the steering motor.

As described above, the steering control apparatus according to the present embodiment acquires vehicle-related information including identification information of a rainfall sensor together with surrounding rainfall information of the vehicle through the vehicle information acquisition module, and obtains vehicle-related information through the steering control module The identification information of the rainfall sensor is extracted together with the state information of the vehicle and the surrounding rainfall information of the vehicle, and the validity check is performed on the extracted surrounding rainfall information of the vehicle for each rainfall sensor to determine whether the rainfall sensor is faulty, and according to the determination result By generating the steering force based on the calculated effective vehicle ambient rainfall value, the vehicle's ambient rainfall value is reflected in the steering force, so it is possible to provide steering force that actively responds to the vehicle's ambient rain, as well as information measured by the sensor. (For example, it is possible to provide a stable steering force by increasing the reliability of the steering control device since it is reflected in the steering force after validation of the vehicle's state information and the vehicle's surrounding environment information, etc.).

Each sensor of the vehicle information acquisition module 100 applied to the steering control apparatus according to the present embodiment may include a snowfall sensor 116 .

The vehicle information acquisition module 100 may measure snowfall around the vehicle through the snowfall sensor 116 . Also, the vehicle information acquisition module 100 may generate information about the surrounding snowfall of the vehicle based on the measured snowfall surrounding the vehicle.

In addition, the vehicle information acquisition module 100 may acquire the surrounding environment information of the vehicle including the identification information of the snow sensor together with the generated surrounding river information of the vehicle. In addition, the vehicle information acquisition module 100 may acquire the vehicle-related information including the acquired surrounding environment information of the vehicle and the state information of the vehicle. Vehicle-related information may be provided to the steering control module 200 .

Here, the identification information of the snow sensor may be a specific ID and signal information of a controller area network (CAN) indicating only the snow sensor.

Here, the identification information of the snowfall sensor may be information that can identify (or distinguish) the snowfall sensor, and information that can identify each of the surrounding environment information of the vehicle included therein among the obtained surrounding environment information of the vehicle can be

For example, the identification information of the snow sensor includes name information of the snow sensor, password information of the snow sensor, serial number information of the snow sensor, type information of the snow sensor, manufacturer information of the snow sensor, model information of the snow sensor, snow sensor version information, snow sensor labeling manager information, and snow sensor production date information, etc. may include, but are not limited to, any identification information that can identify the snow sensor or ambient snow information It may also include identification information.

Also, the steering control module 200 may receive vehicle-related information from the vehicle information acquisition module 100 . Also, the steering control module 200 may extract identification information of the snowfall sensor along with vehicle state information and vehicle ambient strength information based on vehicle-related information provided from the vehicle information acquisition module 100 .

In addition, the steering control module 200 may determine whether the snow sensor malfunctions by performing a validity check on the extracted vehicle ambient strength information for each snow sensor based on the extracted identification information of the snow sensor.

In addition, the steering control module 200 may calculate an effective snowfall value around the vehicle according to the snowfall sensor failure determination result.

In one example, the steering control module 200 may calculate the snowfall sensor failure determination result - when the snowfall sensor is normal, the extracted ambient snowfall information of the vehicle may be calculated as a valid vehicle ambient snowfall value.

In another example, the steering control module 200 may calculate the snowfall sensor failure determination result - when the snowfall sensor is malfunctioning, a preset snowfall value around the vehicle may be calculated as a valid ambient snowfall value of the vehicle.

In another example, the steering control module 200 may not calculate a valid surrounding snow value of the vehicle when the snow sensor failure determination result - when the snow sensor is malfunctioning. That is, the preset value of surrounding snowfall of the vehicle may be 0.

In addition, the steering control module 200 determines the steering force (for example, the first steering force) based on the vehicle speed information and the vehicle torque information among the extracted vehicle state information together with the calculated effective vehicle ambient snowfall value. can create Also, the steering control module 200 may drive the steering motor based on the generated steering force (eg, the first steering force).

In addition, the steering control module 200 includes a steering force (eg, first steering force) for driving a steering motor, and a steering force calculated based on vehicle speed information and vehicle steering angle information among the extracted vehicle state information (for example, , a second steering force) may be added to drive the steering motor.

As described above, the steering control apparatus according to the present embodiment acquires vehicle-related information including identification information of a snow sensor along with surrounding strength information of the vehicle through the vehicle information acquisition module, and obtains vehicle-related information through the steering control module. Identification information of the snow sensor is extracted together with the state information of the vehicle and the vehicle's ambient strength information, and validation is performed on the extracted vehicle's ambient strength information for each snow sensor to determine whether the snow sensor is faulty, and according to the determination result By generating the steering force based on the calculated effective vehicle ambient snowfall value, the vehicle's ambient snowfall value is reflected in the steering force, so it is possible to provide steering force that actively responds to the vehicle's ambient snowfall value, as well as information measured by the sensor (For example, it is possible to provide a stable steering force by increasing the reliability of the steering control device since it is reflected in the steering force after validation of the vehicle's state information and the vehicle's surrounding environment information, etc.).

Continuing to refer to FIG. 1 , each sensor of the vehicle information acquisition module 100 applied to the steering control device according to the present embodiment includes an illuminance sensor 114 , a rainfall sensor 115 and a snowfall sensor 116 . can be done

The vehicle information acquisition module 100 may measure the ambient illuminance of the vehicle, the ambient rainfall of the vehicle, and the ambient snowfall of the vehicle through the illuminance sensor 114 , the rainfall sensor 115 , and the snowfall sensor 116 .

In addition, the vehicle information acquisition module 100 is based on the measured ambient illuminance of the vehicle, the surrounding rainfall of the vehicle, and the surrounding snowfall of the vehicle, along with the ambient illumination information of the vehicle, the identification information of the illuminance sensor, the surrounding rainfall information of the vehicle and It is possible to obtain information about the surrounding environment of the vehicle including the identification information of the rainfall sensor together with the identification information of the rainfall sensor and the information about the surrounding strength of the vehicle.

In addition, the vehicle information acquisition module 100 may acquire the vehicle-related information including the acquired surrounding environment information of the vehicle and the state information of the vehicle. Vehicle-related information may be provided to the steering control module 200 .

Also, the steering control module 200 may receive vehicle-related information from the vehicle information acquisition module 100 . In addition, the steering control module 200 is based on the vehicle-related information provided from the vehicle information acquisition module 100, vehicle status information, vehicle ambient light information along with the identification information of the light sensor, and surrounding rainfall information of the vehicle. It is possible to extract the identification information of the snowfall sensor together with the identification information of the rainfall sensor and information about the surrounding rainfall of the vehicle.

In addition, the steering control module 200 is based on the extracted identification information of the illuminance sensor, the identification information of the rainfall sensor, and the identification information of the snow sensor, around the extracted vehicle by illuminance sensor, by rainfall sensor, and by snow sensor. It is possible to determine whether each of the sensors is malfunctioning by sequentially performing validation checks on the illuminance information, the extracted ambient rainfall information of the vehicle, and the extracted ambient rainfall information of the vehicle.

In one example, the steering control module 200 determines whether the illuminance sensor, the rain sensor and the snow sensor are faulty - when the sensor among the illuminance sensor, the rain sensor and the snow sensor is normal, the extracted ambient illuminance information of the vehicle, the extracted It is possible to calculate the surrounding rainfall information of the vehicle and the extracted surrounding rainfall information of the vehicle as an effective value of the surrounding environment of the vehicle.

In another example, the steering control module 200 determines whether the illuminance sensor, the rain sensor, and the snow sensor are faulty - when a sensor among the illuminance sensor, the rain sensor and the snow sensor is faulty, the preset ambient illuminance value of the vehicle, the surroundings of the vehicle The rainfall value and the surrounding snowfall value of the vehicle may be calculated as an effective value of the surrounding environment of the vehicle.

In another example, the steering control module 200 may not calculate a valid surrounding environment value of the vehicle when the illuminance sensor, the rain sensor and the snow sensor fail determination result - if the sensor among the illuminance sensor, the rain sensor and the snow sensor is faulty there is. That is, the preset ambient illuminance value of the vehicle, the ambient rainfall value of the vehicle, and the ambient snowfall value of the vehicle may be zero.

In addition, the steering control module 200 determines the steering force (eg, first steering force) based on the vehicle speed information and the vehicle torque information among the extracted vehicle state information together with the calculated effective value of the surrounding environment of the vehicle. can create Also, the steering control module 200 may drive the steering motor based on the generated steering force (eg, the first steering force).

In addition, the steering control module 200 includes a steering force (eg, first steering force) for driving a steering motor, and a steering force calculated based on vehicle speed information and vehicle steering angle information among the extracted vehicle state information (for example, , a second steering force) may be added to drive the steering motor.

Specifically, referring to FIG. 1 , the vehicle information acquisition module 100 uses the illuminance sensor 114 , the rainfall sensor 115 , and the snowfall sensor 116 to control the ambient illuminance of the vehicle, the ambient rainfall of the vehicle, and the surroundings of the vehicle. Snowfall can be measured.

In addition, the vehicle information acquisition module 100 is based on the measured ambient illuminance of the vehicle, the surrounding rainfall of the vehicle, and the surrounding snowfall of the vehicle, along with the ambient illumination information of the vehicle, the identification information of the illuminance sensor, the surrounding rainfall information of the vehicle and It is possible to obtain information about the surrounding environment of the vehicle including the identification information of the rainfall sensor together with the identification information of the rainfall sensor and the information about the surrounding strength of the vehicle.

In addition, the vehicle information acquisition module 100 may acquire the vehicle-related information including the acquired surrounding environment information of the vehicle and the state information of the vehicle. Vehicle-related information may be provided to the steering control module 200 .

Also, the steering control module 200 may receive vehicle-related information from the vehicle information acquisition module 100 . In addition, the steering control module 200 is based on the vehicle-related information provided from the vehicle information acquisition module 100, vehicle status information, vehicle ambient light information along with the identification information of the light sensor, and surrounding rainfall information of the vehicle. Together with the identification information of the rainfall sensor and the vehicle's surrounding rainfall information, the identification information of the snow sensor can be sequentially extracted.

For example, the steering control module 200 may first extract state information of the vehicle based on vehicle-related information provided from the vehicle information acquisition module 100 . Then, the steering control module 200 may extract identification information of the illuminance sensor together with ambient illuminance information of the vehicle based on the vehicle-related information provided from the vehicle information acquisition module 100 .

Then, the steering control module 200 may extract the identification information of the rainfall sensor together with the surrounding rainfall information of the vehicle based on the vehicle-related information provided from the vehicle information acquisition module 100 . Then, the steering control module 200 may extract identification information of the snowfall sensor together with the surrounding strength information of the vehicle based on the vehicle-related information provided from the vehicle information acquisition module 100 .

As described above, the steering control module 200 according to the present embodiment may process the state information of the vehicle, and then process the ambient illuminance information of the vehicle, the ambient rainfall information of the vehicle and the ambient intensity information, but limited to this However, the order of processing (or extraction) of the above-described information may be changed.

In addition, the steering control module 200 is based on the extracted identification information of the illuminance sensor, the identification information of the rainfall sensor, and the identification information of the snow sensor, around the extracted vehicle by illuminance sensor, by rainfall sensor, and by snow sensor. It is possible to determine whether each of the sensors is malfunctioning by sequentially performing validation checks on the illuminance information, the extracted ambient rainfall information of the vehicle, and the extracted ambient rainfall information of the vehicle.

For example, the steering control module 200 may determine whether the illuminance sensor is malfunctioning by performing a validity check on the extracted ambient illuminance information of the vehicle for each illuminance sensor based on the extracted identification information of the illuminance sensor. Then, the steering control module 200 may calculate an effective ambient illuminance value of the vehicle according to the determination result of whether the illuminance sensor has failed.

In one example, when the illuminance sensor is normal as a result of determining whether the illuminance sensor is faulty, the steering control module 200 may calculate the extracted ambient illuminance information of the vehicle as a valid ambient illuminance value of the vehicle.

In another example, when the illuminance sensor is defective as a result of determining whether the illuminance sensor is faulty, the steering control module 200 may calculate a preset ambient illuminance value of the vehicle as a valid ambient illuminance value of the vehicle.

In another example, when the illuminance sensor is defective as a result of determining whether the illuminance sensor is defective, the steering control module 200 may not calculate an effective ambient illuminance value of the vehicle. That is, the preset peripheral illuminance value of the vehicle may be 0.

Then, the steering control module 200 may determine whether the rain sensor is malfunctioning by performing a validity check on the extracted surrounding rainfall information of the vehicle for each rainfall sensor based on the extracted identification information of the rainfall sensor. . Then, the steering control module 200 may calculate an effective ambient rainfall value of the vehicle according to the determination result of whether the rain sensor is faulty.

In one example, when the rain sensor is normal as a result of determining whether the rain sensor is faulty, the steering control module 200 may calculate the extracted ambient rainfall information of the vehicle as a valid ambient rainfall value of the vehicle.

In another example, when the rain sensor is malfunctioning as a result of determining whether the rain sensor is faulty, the steering control module 200 may calculate a preset ambient rainfall value of the vehicle as a valid ambient rainfall value of the vehicle.

In another example, the steering control module 200 may not calculate a valid ambient rainfall value of the vehicle when the rain sensor is defective as a result of determining whether the rain sensor is faulty. That is, the preset ambient rainfall value of the vehicle may be 0.

Then, the steering control module 200 may determine whether the snow sensor is malfunctioning by performing a validity check on the extracted ambient strength information of the vehicle for each snow sensor based on the extracted identification information of the snow sensor. . Then, the steering control module 200 may calculate an effective value of surrounding snowfall of the vehicle according to the determination result of whether the snowfall sensor is faulty.

In one example, when the snow sensor is normal as a result of determining whether the snow sensor is faulty, the steering control module 200 may calculate the extracted ambient snow information of the vehicle as a valid ambient snow value of the vehicle.

In another example, when the snow sensor is faulty as a result of determining whether the snow sensor is faulty, the steering control module 200 may calculate a preset surrounding snow value of the vehicle as a valid surrounding snow value of the vehicle.

In another example, when the snow sensor is faulty as a result of determining whether the snow sensor is faulty, the steering control module 200 may not calculate a valid surrounding snow value of the vehicle. That is, the preset value of surrounding snowfall of the vehicle may be 0.

As described above, the steering control module 200 according to the present embodiment can first determine whether the illuminance sensor has a failure, and then can determine whether the rain sensor has a failure and whether the snowfall sensor has a failure, but is limited thereto. Otherwise, the order of determining the presence or absence of a failure of the above-described sensor may be changed.

In addition, the steering control module 200 sequentially reflects the calculated ambient illuminance value of the effective vehicle, the effective vehicle ambient rainfall value, and the effective vehicle ambient snowfall value to the vehicle ambient environment value to obtain an effective vehicle ambient environment value. can be calculated.

For example, the steering control module 200 may calculate the calculated effective vehicle ambient illuminance value as an effective vehicle ambient environment value (eg, the first effective vehicle ambient environment value, etc.).

Then, the steering control module 200 reflects the calculated ambient rainfall value of the effective vehicle to the calculated ambient environment value of the effective vehicle (for example, the ambient environment value of the first effective vehicle, etc.) to surround the effective vehicle. An environmental value (for example, an environmental value of the second effective vehicle, etc.) may be calculated.

Then, the steering control module 200 reflects the calculated ambient snowfall value of the effective vehicle to the calculated ambient environment value of the effective vehicle (eg, the ambient environment value of the second effective vehicle, etc.) An environmental value (for example, a value of an environment of a third effective vehicle, etc.) may be calculated.

As described above, the steering control module 200 according to the present embodiment first calculates a value of the surrounding environment of the effective vehicle using the ambient illuminance value of the effective vehicle, and then the ambient rainfall value of the effective vehicle and the surrounding area of the effective vehicle. Although the effective value of the surrounding environment of the vehicle may be calculated using the snowfall value, the present invention is not limited thereto, and the order of calculating the value of the surrounding environment of the effective vehicle may be changed.

In addition, the steering control module 200 determines the steering force (eg, first steering force) based on the vehicle speed information and the vehicle torque information among the extracted vehicle state information together with the calculated effective value of the surrounding environment of the vehicle. can create Also, the steering control module 200 may drive the steering motor based on the generated steering force (eg, the first steering force).

In addition, the steering control module 200 includes a steering force (eg, first steering force) for driving a steering motor, and a steering force calculated based on vehicle speed information and vehicle steering angle information among the extracted vehicle state information (for example, , a second steering force) may be added to drive the steering motor.

As described above, the steering control device according to the present embodiment includes identification information of the illuminance sensor along with ambient illuminance information of the vehicle through the vehicle information acquisition module, the identification information of the rain sensor together with the surrounding rainfall information of the vehicle, and the perimeter of the vehicle. Acquires vehicle-related information including snow sensor identification information along with snowfall information, and through the steering control module, along with vehicle status information and vehicle ambient illumination information, illumination sensor identification information, and vehicle ambient rainfall information The identification information of the snow sensor is extracted together with the identification information of the rainfall sensor and the vehicle's ambient intensity information, and the extracted ambient illuminance information of the vehicle and the extracted ambient rainfall information of each illuminance sensor, each rainfall sensor and snow sensor. and sequentially performing a validation check on the extracted ambient light information of the vehicle to determine whether each sensor is faulty, and the effective vehicle ambient illuminance value, vehicle ambient rainfall value, and ambient snow value calculated according to the determination result By generating steering force based on In addition to being able to provide the steering force that is used in the steering system, the reliability of the steering control device is increased because it is reflected in the steering force after validating the information measured by the sensor (for example, vehicle state information and vehicle surrounding environment information, etc.). can provide

2 is a conceptual diagram for explaining a steering control apparatus according to the present embodiment.

Referring to FIG. 2 , the steering control apparatus according to the present embodiment may largely include a vehicle information acquisition module 100 , a steering control module 200 , and the like. In particular, the vehicle information acquisition module 100 may include a sensor 110 , and the steering control module 200 may include an ECU 210 and an actuator 220 . Here, the ECU 210 may include an input unit 211 , a microcomputer 212 , an output unit 213 , a power supply unit 214 , and a ROM 215 .

First, the state of the vehicle and the surrounding environment 10 of the vehicle are each sensor, that is, the vehicle speed sensor 111, the torque sensor 112, the steering angle sensor 113, the illuminance sensor 114, the rainfall sensor 115 and the snowfall. It may be measured through the sensor 116 . Here, the state of the vehicle may be the vehicle speed of the vehicle, the torque of the vehicle, and the steering angle of the vehicle.

In addition, the state of the vehicle and the surrounding environment 10 of the vehicle measured through each sensor are generated as the state information of the vehicle and the surrounding environment information 20 of the vehicle, and the generated state information of the vehicle and the surrounding environment of the vehicle The information 20 may be provided to the input unit 211 of the ECU 210 through a controller area network (CAN).

Here, the generated vehicle state information and vehicle surrounding environment information 20 may be transmitted/received through a controller area network (CAN), but is not limited thereto, and the sensor 110 and the input unit 211 of the ECU 210 ), if information can be transmitted and received with each other, any wired or wireless communication can be used.

In addition, only valid information (or values) of the vehicle state information and the vehicle surrounding environment information 20 input to the input unit 211 of the ECU 210 may be calculated by the validation of the microcomputer 212 . Here, the validity test of the microcomputer 212 may include at least one of a timeout test, a signal error test, and a single unit (sensor failure) module failure test.

In addition, valid information (or values) calculated by the microcomputer 212 of the ECU 210 is reflected in vehicle speed information, vehicle torque information, and vehicle steering angle information, and an assist current 30 generated based on this information ) may be provided to the motor 221 of the actuator 220 through the output unit 213 of the ECU 210 .

Accordingly, the motor 221 of the actuator 220 is driven by the assist current reflecting only valid information, so that the assist force 40, that is, the active steering force may be generated.

3 is a conceptual diagram for explaining a process of generating an assist current applied to the steering control apparatus according to the present embodiment.

Referring to FIG. 3 , the steering control apparatus according to the present embodiment includes not only the torque information of the vehicle acquired through the torque sensor 112 and the vehicle speed information acquired through the vehicle speed sensor 111 , but also the illuminance sensor 114 . ), the rainfall sensor 115 and the snow sensor 116 to generate an assist current using the vehicle's ambient illuminance information, the vehicle's ambient rainfall information, and the vehicle's ambient intensity information, and based on this By driving the motor, it is possible to provide a flexible steering force to the steering wheel of the vehicle according to the internal and external environment of the vehicle.

In particular, phase compensation may be performed on the torque information of the vehicle acquired through the torque sensor 112 . In addition, the assist current is a steering force (eg, a first steering force) calculated based on torque information of the vehicle, vehicle speed information of the vehicle, ambient illuminance information of the vehicle, ambient rainfall information of the vehicle, and ambient intensity information of the vehicle. ) and a steering force (eg, a second steering force) in which vehicle speed information of the vehicle and steering angle information of the vehicle are return controlled (restored control) may be summed.

Hereinafter, a steering control method according to the present embodiment will be described with reference to the accompanying drawings. In particular, portions overlapping with the steering control apparatus according to the present embodiment described above with reference to FIGS. 1 to 3 will be omitted below for the sake of brevity of description.

4 is an overall flowchart for explaining the steering control method according to the present embodiment.

Referring to FIG. 4 , the steering control method according to the present embodiment includes the steps of obtaining vehicle-related information (S100), calculating an effective surrounding environment value of the vehicle (S200), and driving a steering motor (S300). ) and the like.

In particular, the steering control method according to the present embodiment may use a device (referred to as a steering control device) including a vehicle information acquisition module and a steering control module.

In the step S100, the state of the vehicle and the surrounding environment of the vehicle are measured through each sensor, and vehicle-related information including the vehicle status information and the surrounding environment information of the vehicle can be obtained based on this (S100) .

For example, in step S100, the state of the vehicle and the surrounding environment of the vehicle are measured through each sensor 110 of the steering control device, and based on this, the status information of the vehicle and the surrounding environment information of the vehicle are measured through the steering control device. It is possible to obtain information related to the vehicle including

Specifically, in step S100, first, the state of the vehicle and the surrounding environment of the vehicle may be measured through each sensor of the steering control device. Then, through the steering control device, it is possible to generate vehicle state information based on the measured state of the vehicle and also generate information about the surrounding environment of the vehicle based on the measured surrounding environment of the vehicle.

Then, information related to the vehicle including the generated state information of the vehicle and information about the surrounding environment of the vehicle may be acquired through the steering control device.

Here, each sensor includes at least one of a vehicle speed sensor 111 , a torque sensor 112 , a steering angle sensor 113 , an illuminance sensor 114 , a rain sensor 115 , and a snowfall sensor 116 . can

In step S200, the state information of the vehicle and the surrounding environment information of the vehicle are extracted from the obtained vehicle related information, and a validity check is performed on the extracted surrounding environment information of the vehicle to calculate a valid surrounding environment value of the vehicle. It can be done (S200).

For example, in step S200, through the steering control device, the vehicle state information and the surrounding environment information of the vehicle are extracted from the vehicle-related information provided from the step S100, and validation of the extracted surrounding environment information of the vehicle is checked. can be performed to calculate an effective value of the surrounding environment of the vehicle.

Specifically, in step S200, vehicle-related information may be provided from step S100 through the steering control device. Then, through the steering control device, it is possible to extract the state information of the vehicle and the surrounding environment information of the vehicle from among the vehicle-related information provided in step S100.

Then, a validity check may be performed on the extracted surrounding environment information of the vehicle through the steering control device. Then, through the steering control device, an effective value of the surrounding environment of the vehicle may be calculated according to the result of the performed validation check.

In the step S300, the steering motor may be driven by generating a steering force based on the vehicle speed information and the vehicle torque information among the extracted vehicle state information together with the calculated effective vehicle ambient environment value (S300) .

For example, in step S300, based on the vehicle speed information and the torque information of the vehicle among the extracted vehicle state information together with the calculated effective surrounding environment value of the vehicle provided from the step S200 through the steering control device. A steering motor can be driven by generating a steering force.

In one example, in the step S300, first, through the steering control device, the vehicle speed information and the torque information of the vehicle among the extracted vehicle state information together with the calculated effective surrounding environment value of the vehicle provided from the step S200 A steering force (for example, a first steering force) may be generated based on . Then, the steering motor may be driven based on the generated steering force (eg, the first steering force) through the steering control device.

In another example, in the step S300, first, through the steering control device, the vehicle speed information and the torque information of the vehicle among the extracted vehicle state information together with the calculated effective surrounding environment value of the vehicle provided from the step S200 A steering force (for example, a first steering force) may be generated based on . Then, through the steering control device, to the generated steering force (eg, the first steering force), the steering force calculated based on vehicle speed information and vehicle steering angle information among the extracted vehicle state information (eg, A second steering force) may be added to drive the steering motor.

5 is a detailed flowchart for explaining the steering control method according to the present embodiment.

Referring to FIG. 5 , the step of obtaining information related to the vehicle applied to the steering control method according to the present embodiment (S100) includes measuring the state of the vehicle and the surrounding environment of the vehicle (S111) and each sensor identification information Obtaining information related to the vehicle including the step (S113) and the like may be included.

In the step S111, the state of the vehicle and the surrounding environment of the vehicle may be measured through the respective sensors (S111). For example, in step S111, the state of the vehicle and the surrounding environment of the vehicle may be measured through each sensor of the steering control device.

In step S113, based on the measured state of the vehicle and the surrounding environment of the vehicle, the vehicle's state information and the vehicle's surrounding environment information are generated, and each Vehicle-related information including sensor identification information may be obtained (S113).

For example, in step S113, the state information of the vehicle and the surrounding environment information of the vehicle may be generated through the steering control device based on the state of the vehicle and the surrounding environment of the vehicle measured in step S111. Then, through the steering control device, vehicle-related information including each sensor identification information along with the generated vehicle state information and vehicle surrounding environment information may be obtained and provided to step S211, which will be described later.

Calculating an effective vehicle ambient environment value applied to the steering control method according to the present embodiment (S200) includes extracting each sensor identification information together with vehicle state information and vehicle ambient environment information (S211); It may include a step (S213) of determining whether each sensor is faulty by performing a validation check, and a step (S215) of calculating an effective surrounding environment value of the vehicle and a valid vehicle state information value (S215).

In the step S211, each sensor identification information may be extracted together with the vehicle state information and the vehicle surrounding environment information by receiving the obtained vehicle-related information (S211).

For example, in step S211, the vehicle-related information may be received from the step S113 through the steering control device, and each sensor identification information may be extracted together with the vehicle state information and the vehicle's surrounding environment information.

In step S213, based on the extracted respective sensor identification information, validation is performed on the extracted vehicle state information and vehicle surrounding environment information for each sensor to determine whether each sensor is faulty. (S213).

For example, in step S213, validation is performed on the extracted vehicle state information and vehicle surrounding environment information for each sensor based on each sensor identification information extracted in step S211 through the steering control device. Thus, it is possible to determine whether each sensor is faulty.

In the step S215, an effective surrounding environment value of the vehicle and an effective vehicle state information value may be calculated according to the determination result of each sensor failure (S215).

For example, in step S215, an effective value of the surrounding environment of the vehicle and an effective state information value of the vehicle may be calculated through the steering control device according to the determination result of step S213.

In one example, in step S215, when each sensor is normal as a result of determining whether each sensor is faulty, the extracted vehicle state information and vehicle ambient environment information are combined with a valid vehicle ambient environment value and a valid vehicle ambient environment value. It can be calculated as a state information value.

That is, in step S215, if the respective sensors are normal as a result of the determination in step S213 through the steering control device, the state information of the vehicle and the surrounding environment information of the vehicle extracted in step S211 are validated as the surrounding environment value of the vehicle. and a valid vehicle state information value.

In another example, in step S215, when each sensor is faulty as a result of determining whether each sensor is faulty, the preset vehicle state value and the vehicle surrounding environment value are set to the valid surrounding environment value of the vehicle and the valid vehicle's surrounding environment value. It can be calculated as a state information value.

That is, in step S215, through the steering control device, when each of the sensors is faulty as a result of the determination in step S213, the preset vehicle state value and the vehicle ambient environment value are set to an effective vehicle ambient environment value and a valid vehicle ambient environment value. It can be calculated as the state information value of

In another example, in the step S215, when each of the sensors is defective as a result of determining whether each of the sensors is defective, an effective value of the surrounding environment of the vehicle may not be calculated. That is, the preset value of the surrounding environment of the vehicle may be 0.

That is, in step S215, when the respective sensors are defective as a result of the determination in step S213 through the steering control device, an effective value of the surrounding environment of the vehicle may not be calculated.

Driving the steering motor applied to the steering control method according to the present embodiment (S300) may include generating a steering force (S311) and driving the steering motor (S313).

In the step S311, the steering force may be generated based on the vehicle speed value and the torque value of the vehicle among the calculated valid vehicle state information values together with the calculated effective vehicle ambient environment value (S311).

For example, in step S311, through the steering control device, the steering force based on the vehicle speed value and the torque value of the vehicle among the calculated valid vehicle state information values together with the effective vehicle ambient environment value calculated in step S215 (For example, the first coercive force) may be generated.

In step S313, the steering motor may be driven based on the generated steering force (eg, the first steering force) (S313).

In one example, in step S313, the steering motor may be driven based on the steering force (eg, first steering force) generated in step S311 through the steering control device.

In another example, in step S313, the vehicle speed value and the steering angle value of the vehicle among the effective vehicle state information values calculated in the steering force (eg, the first steering force) generated in the step S311 through the steering control device The steering motor may be driven by adding a steering force (eg, a second steering force) calculated based on .

6 is a detailed flowchart for explaining a method of controlling steering by using ambient illuminance of a vehicle according to the present embodiment.

Referring to FIG. 6 , the step (S100) of obtaining vehicle-related information applied to the method for controlling steering using the ambient illuminance of the vehicle according to the present embodiment includes the steps of measuring the peripheral illuminance of the vehicle (S121) and Acquiring vehicle-related information including identification information of the illumination sensor 114 together with ambient illumination information of the vehicle (S123) may be included.

In step S121, the ambient illumination of the vehicle may be measured through the illumination sensor 114 (S121). For example, in step S121, the ambient illuminance of the vehicle may be measured through the illuminance sensor 114 of the steering control device, and the state of the vehicle may be measured through each sensor.

In the step S123, based on the measured ambient illuminance of the vehicle, the surrounding environment information of the vehicle including the identification information of the illuminance sensor together with the surrounding illuminance information of the vehicle is obtained, and the obtained surrounding environment information of the vehicle and the vehicle Vehicle-related information including state information of may be obtained (S123).

For example, in step S123, through the steering control device. Based on the ambient illuminance of the vehicle measured in step S121, the surrounding environment information of the vehicle including the identification information of the illuminance sensor is acquired together with the surrounding illuminance information of the vehicle, Vehicle-related information including the acquired vehicle state information may be obtained based on the measured vehicle state, and may be provided to step S221 to be described later.

The step (S200) of calculating the effective value of the surrounding environment of the vehicle applied to the method of controlling steering using the ambient illuminance of the vehicle according to the present embodiment includes: Extracting identification information (S221), performing a validation check to determine whether the illuminance sensor is faulty (S223), and calculating a valid ambient illuminance value of the vehicle (S225) may be included.

In step S221, the obtained vehicle-related information may be received, and identification information of the illuminance sensor may be extracted together with vehicle state information and vehicle ambient illuminance information (S221).

For example, in step S221, the vehicle-related information may be received from the step S123 through the steering control device, and identification information of the illuminance sensor may be extracted together with the vehicle state information and ambient illuminance information of the vehicle.

In step S223, based on the extracted identification information of the illuminance sensor, a validity check may be performed on the extracted ambient illuminance information of the vehicle for each illuminance sensor to determine whether the illuminance sensor is malfunctioning (S223).

for example. In the step S223, through the steering control device, based on the identification information of the illuminance sensor extracted in the step S221, a validity check is performed on the extracted ambient illuminance information for each illuminance sensor to determine whether the illuminance sensor is malfunctioning. there is.

In the step S225, an effective ambient illuminance value of the vehicle may be calculated according to the determination result of whether the illuminance sensor is malfunctioning (S225). For example, in step S225, an effective value of the surrounding environment of the vehicle may be calculated through the steering control device according to the determination result of step S223.

In one example, in step S225, when the illuminance sensor is normal as a result of the determination in step S223 through the steering control device, the ambient illuminance information of the vehicle extracted in step S221 may be calculated as a valid ambient illuminance value of the vehicle. .

In another example, in step S225, when the illuminance sensor is defective as a result of the determination in step S223 through the steering control device, a preset ambient illuminance value of the vehicle may be calculated as a valid ambient illuminance value of the vehicle.

In another example, in step S225, when the illuminance sensor is defective as a result of the determination in step S223 through the steering control device, a valid ambient illuminance value of the vehicle may not be calculated. That is, the preset peripheral illuminance value of the vehicle may be 0.

The step (S300) of driving the steering motor applied to the method of controlling steering using the ambient illumination of the vehicle according to the present embodiment includes the steps of generating a steering force (S321) and driving the steering motor (S323), etc. can be included.

In step S321, the steering force may be generated based on the vehicle speed information and the torque information of the vehicle among the extracted vehicle state information together with the calculated effective vehicle ambient illuminance value (S321).

For example, in step S321, through the steering control device, the steering force (one For example, a first tension force) may be generated.

In step S323, the steering motor may be driven based on the generated steering force (eg, the first steering force) (S323).

For example, in step S323, the steering motor may be driven based on the steering force (eg, the first steering force) generated in step S321 through the steering control device.

In another example, in step S323, the vehicle speed value and the steering angle value of the vehicle among the state information values of the vehicle extracted to the steering force (eg, the first steering force) generated in step S321 through the steering control device The steering motor may be driven by adding a steering force (eg, a second steering force) calculated based on the steering force.

7 is a detailed flowchart for explaining a method of controlling steering using ambient rainfall of a vehicle according to the present embodiment.

Referring to FIG. 7 , the step (S100) of obtaining vehicle-related information applied to the method for controlling steering using the ambient rainfall of the vehicle according to the present embodiment includes the steps of measuring the ambient rainfall of the vehicle (S131) and Acquiring vehicle-related information including the rainfall sensor 115 identification information together with surrounding rainfall information of the vehicle (S133) may be included.

In the step S131, through the rainfall sensor 115, it is possible to measure the surrounding rainfall of the vehicle (S131). For example, in step S131, the rain sensor 115 of the steering control device may measure ambient rainfall of the vehicle, and the state of the vehicle may be measured through each sensor.

In the step S133, based on the measured ambient rainfall of the vehicle, the vehicle's surrounding environment information including the vehicle's surrounding rainfall information and the rainfall sensor identification information is acquired, and the obtained surrounding environment information of the vehicle and the vehicle Vehicle-related information including state information of may be obtained (S133).

For example, in step S133, through the steering control device. Based on the surrounding rainfall of the vehicle measured in step S121, the surrounding environment information of the vehicle including the identification information of the rainfall sensor is acquired together with the surrounding rainfall information of the vehicle, Vehicle-related information including the obtained vehicle state information may be obtained based on the measured vehicle state, and may be provided to step S231 to be described later.

The step (S200) of calculating the effective surrounding environment value of the vehicle applied to the method for controlling steering using the surrounding rainfall of the vehicle according to the present embodiment includes: Extracting identification information (S231), performing a validation check to determine whether the rain sensor is faulty (S233), and calculating a valid surrounding rainfall value of the vehicle (S235) may be included.

In the step S231, the obtained vehicle-related information may be received, and identification information of the rainfall sensor may be extracted together with the vehicle state information and the surrounding rainfall information of the vehicle (S231).

For example, in step S231, the vehicle-related information may be received from the step S133 through the steering control device, and identification information of the rainfall sensor may be extracted together with vehicle state information and surrounding rainfall information of the vehicle.

In step S233, based on the extracted identification information of the rainfall sensor, a validity check may be performed on the extracted surrounding rainfall information of the vehicle for each rainfall sensor to determine whether the rainfall sensor is malfunctioning (S233).

for example. In step S233, through the steering control device, based on the identification information of the rainfall sensor extracted in step S231, validation is performed on the extracted surrounding rainfall information for each rainfall sensor to determine whether the rainfall sensor is faulty. there is.

In the step S235, it is possible to calculate an effective ambient rainfall value of the vehicle according to the determination result of the failure of the rain sensor (S235). For example, in step S235, an effective value of the surrounding environment of the vehicle may be calculated through the steering control device according to the determination result of step S233.

In one example, in step S235, when the rainfall sensor is normal as a result of the determination in step S233 through the steering control device, the ambient rainfall information of the vehicle extracted in step S231 may be calculated as a valid ambient rainfall value of the vehicle. .

In another example, in step S235, when the rain sensor is malfunctioning as a result of the determination in step S233 through the steering control device, a preset ambient rainfall value of the vehicle may be calculated as an effective ambient rainfall value of the vehicle.

In another example, in the step S235, when the rain sensor is faulty as a result of the determination in the step S233 through the steering control device, an effective ambient rainfall value of the vehicle may not be calculated. That is, the preset ambient rainfall value of the vehicle may be 0.

The step (S300) of driving the steering motor applied to the method of controlling the steering using the ambient rainfall of the vehicle according to the present embodiment includes the steps of generating a steering force (S331) and driving the steering motor (S333), etc. can be included.

In the step S331, the steering force may be generated based on the vehicle speed information and the torque information of the vehicle among the extracted vehicle state information together with the calculated effective vehicle ambient rainfall value (S331).

For example, in step S331, through the steering control device, the steering force (one For example, a first tension force) may be generated.

In step S333, the steering motor may be driven based on the generated steering force (eg, the first steering force) (S333).

In one example, in step S333, the steering motor may be driven based on the steering force (eg, the first steering force) generated in step S331 through the steering control device.

In another example, in step S333, the vehicle speed value and the vehicle steering angle value among the state information values of the vehicle extracted to the steering force (eg, the first steering force) generated in the step S331 through the steering control device The steering motor may be driven by adding a steering force (eg, a second steering force) calculated based on the steering force.

8 is a detailed flowchart for explaining a method of controlling steering using snow around the vehicle according to the present embodiment.

Referring to FIG. 8 , the step (S100) of obtaining vehicle-related information applied to the method for controlling steering using the snow around the vehicle according to the present embodiment includes the steps of measuring the snow around the vehicle (S141) and Acquiring information related to the vehicle including the snow sensor 116 identification information together with the surrounding strength information of the vehicle (S143) and the like may be included.

In the step S141, the snowfall sensor 116 may measure the surrounding snowfall of the vehicle (S141). For example, in step S141 , the snowfall sensor 116 of the steering control device may measure the surrounding snowfall of the vehicle, and the state of the vehicle may be measured through each sensor.

In step S143, based on the measured surrounding snowfall of the vehicle, the surrounding environment information of the vehicle including the identification information of the snow sensor along with the surrounding heavy information of the vehicle is obtained, and the obtained surrounding environment information of the vehicle and the vehicle It is possible to obtain information related to the vehicle including the state information of (S143).

For example, in step S143, through the steering control device. Based on the surrounding snowfall of the vehicle measured in step S141, the surrounding environment information of the vehicle including the identification information of the snow sensor along with the surrounding heavy information of the vehicle is obtained, and the obtained surrounding environment information of the vehicle and the obtained surrounding environment information in the step 141 Vehicle-related information including the acquired vehicle state information may be obtained based on the measured vehicle state, and may be provided to step S241 to be described later.

The step (S200) of calculating the effective surrounding environment value of the vehicle applied to the method for controlling steering using the surrounding snowfall of the vehicle according to the present embodiment (S200) includes the condition information of the vehicle and the snowfall sensor along with the vehicle's surrounding snowfall information. Extracting identification information (S241), performing a validation check to determine whether the snow sensor is faulty (S243), and calculating a valid nearby snowfall value of the vehicle (S245) may be included.

In step S241, the obtained vehicle-related information may be received, and identification information of the snowfall sensor may be extracted together with vehicle state information and vehicle ambient strength information (S241).

For example, in step S241, the vehicle-related information may be received from the step S143 through the steering control device, and identification information of the snowfall sensor may be extracted together with the vehicle state information and the vehicle ambient strength information.

In the step S243, it is possible to determine whether the snow sensor malfunctions by performing a validity check on the extracted vehicle ambient intensity information for each snow sensor based on the extracted identification information of the snow sensor (S243).

for example. In step S243, through the steering control device, based on the identification information of the snow sensor extracted in step S241, validation is performed on the extracted ambient intensity information for each snow sensor to determine whether the snow sensor is faulty. there is.

In the step S245, it is possible to calculate an effective value of snow around the vehicle according to the determination result of whether the snow sensor is faulty (S245). For example, in step S245, an effective value of the surrounding environment of the vehicle may be calculated through the steering control device according to the determination result of step S243.

In one example, in step S245, if the snow sensor is normal as a result of the determination in step S243 through the steering control device, the ambient snowfall information of the vehicle extracted in step S241 can be calculated as a valid ambient snow value of the vehicle. .

In another example, in step S245, when the snow sensor is faulty as a result of the determination in step S243, the preset snowfall value of the vehicle may be calculated as a valid ambient snow value of the vehicle through the steering control device.

In another example, in step S245, when the snow sensor is faulty as a result of the determination in step S243 through the steering control device, a valid surrounding snow value of the vehicle may not be calculated. That is, the preset value of surrounding snowfall of the vehicle may be 0.

The step (S300) of driving the steering motor applied to the method of controlling the steering using the surrounding snowfall of the vehicle according to the present embodiment includes the steps of generating a steering force (S341) and driving the steering motor (S343), etc. can be included.

In the step S341, the steering force may be generated based on the vehicle speed information and the torque information of the vehicle among the extracted vehicle state information together with the calculated effective vehicle ambient snowfall value (S341).

For example, in step S341, through the steering control device, the steering force (one For example, a first tension force) may be generated.

In step S343, the steering motor may be driven based on the generated steering force (eg, the first steering force) (S343).

In one example, in step S343, the steering motor may be driven based on the steering force (eg, the first steering force) generated in step S341 through the steering control device.

In another example, in step S343, the vehicle speed value and the steering angle value of the vehicle among the state information values of the vehicle extracted to the steering force (eg, the first steering force) generated in step S341 are determined through the steering control device. The steering motor may be driven by adding a steering force (eg, a second steering force) calculated based on the steering force.

9 is a detailed flowchart for explaining a method of controlling steering using ambient illuminance of the vehicle, ambient rainfall, and ambient snowfall of the vehicle according to the present embodiment.

Referring to FIG. 9 , the step (S100) of obtaining vehicle-related information applied to the method for controlling steering using the ambient illuminance of the vehicle, the ambient rainfall and the ambient snowfall of the vehicle according to the present embodiment (S100) includes: , measuring the surrounding rainfall and snowfall of the vehicle (S151) and the identification information of the illumination sensor together with the surrounding illumination information of the vehicle, the identification information of the rainfall sensor together with the surrounding rainfall information of the vehicle, and rainfall together with the surrounding rainfall information of the vehicle It may include a step (S153) of obtaining vehicle-related information including identification information of the sensor, and the like.

In step S151, the ambient illuminance of the vehicle, the ambient rainfall of the vehicle, and the ambient snowfall of the vehicle may be measured through the illuminance sensor 114, the rainfall sensor 115, and the snowfall sensor 116 (S151). For example, in step S151, the ambient illuminance of the vehicle, the ambient rainfall of the vehicle, and the ambient snow of the vehicle are measured through the illuminance sensor 114, the rainfall sensor 115, and the snowfall sensor 116 of the steering control device, The state of the vehicle may be measured through each of the sensors (eg, the vehicle speed sensor 111 , the torque sensor 112 , the steering angle sensor 113 , etc.).

In the step S153, based on the measured ambient illuminance of the vehicle, the vehicle's ambient rainfall, and the vehicle's ambient snowfall, the identification information of the illuminance sensor together with the ambient illuminance information of the vehicle, the identification information of the rainfall sensor together with the ambient rainfall information of the vehicle and obtains surrounding environment information of the vehicle including identification information of the rainfall sensor together with the surrounding river setting information of the vehicle, and obtains vehicle-related information including the obtained surrounding environment information of the vehicle and state information of the vehicle. There is (S153).

For example, in step S153, through the steering control device. Based on the ambient illuminance of the vehicle, the surrounding rainfall of the vehicle, and the surrounding snowfall of the vehicle measured in step S151, the identification information of the illuminance sensor together with the ambient illuminance information of the vehicle, the identification information of the rain sensor together with the surrounding rainfall information of the vehicle, and the vehicle Acquires surrounding environment information of the vehicle including the identification information of the rainfall sensor together with the surrounding river setting information of Information related to the vehicle including (eg, vehicle speed information of the vehicle, torque information of the vehicle, steering angle information of the vehicle, etc.) may be obtained and provided to step S251 to be described later.

The step (S200) of calculating the effective ambient environment value of the vehicle applied to the method of controlling steering using the ambient illuminance of the vehicle, the ambient rainfall and the ambient snowfall of the vehicle according to the present embodiment (S200) includes the vehicle's state information, the vehicle's Extracting the identification information of the illuminance sensor together with the ambient illuminance information, the identification information of the rain sensor together with the surrounding rainfall information of the vehicle, and the identification information of the snow sensor along with the ambient light information of the vehicle (S251), sequentially performing validation Thus, determining whether the illuminance sensor, the rainfall sensor, and the snow sensor are faulty (S253) and calculating an effective value of the surrounding environment of the vehicle (S255) may be included.

In the step S251, the obtained vehicle-related information is received, and the vehicle status information, identification information of the illumination sensor together with ambient illumination information of the vehicle, identification information of the rainfall sensor together with surrounding rainfall information of the vehicle, and snow surrounding the vehicle It is possible to extract identification information of the snowfall sensor together with the information (S251).

For example, in step S251, through the steering control device, vehicle-related information is received from step S153, and the vehicle status information, the identification information of the illuminance sensor together with the surrounding illuminance information of the vehicle, and the rain together with the surrounding rainfall information of the vehicle It is possible to extract the identification information of the snowfall sensor together with the identification information of the sensor and information on the surrounding snowfall of the vehicle.

In the step S253, based on the extracted identification information of the illuminance sensor, the identification information of the rainfall sensor, and the identification information of the snow sensor, the extracted peripheral illuminance information of the vehicle for each illuminance sensor, each rainfall sensor, and each snow sensor, the extraction It is possible to determine whether the corresponding sensors are malfunctioning by sequentially performing a validity check on the ambient rainfall information of the vehicle and the extracted ambient rainfall information of the vehicle (S253).

for example. In the step S243, through the steering control device, based on the identification information of the illuminance sensor, the identification information of the rainfall sensor, and the identification information of the snow sensor extracted in the step S241, the extraction is for each illuminance sensor, each rainfall sensor, and each snow sensor. It is possible to determine whether the illuminance sensor, the rain sensor and the snow sensor malfunction by sequentially performing a validation check on the ambient illuminance information of the vehicle, the extracted ambient rainfall information of the vehicle, and the extracted ambient light information of the vehicle.

In the step S255, an effective value of surrounding snowfall of the vehicle may be calculated according to the determination result of whether the corresponding sensors are faulty (S245).

For example, in step S255, an effective surrounding environment value of the vehicle may be calculated through the steering control device according to the determination result of whether the illuminance sensor, the rainfall sensor, and the snowfall sensor are fixed in the step S253.

In one example, in step S255, when it is determined whether the corresponding sensors are faulty and a sensor among the corresponding sensors is normal, the extracted ambient illuminance information of the vehicle, the extracted ambient rainfall information of the vehicle, and the extracted vehicle The ambient strength information can be calculated as an effective value of the surrounding environment of the vehicle.

That is, in step S255, if the illuminance sensor, the rain sensor and the snow sensor are normal as a result of the determination of whether the illuminance sensor, the rain sensor and the snow sensor fail in the step S253 through the steering control device, the vehicle extracted in the step S241 The ambient illuminance information, the extracted ambient rainfall information of the vehicle, and the extracted ambient intensity information of the vehicle may be calculated as an effective value of the surrounding environment of the vehicle.

In another example, in step S255, when a sensor among the corresponding sensors is faulty as a result of determining whether the corresponding sensors are faulty, the preset value of the ambient illuminance state of the vehicle, the value of the ambient rainfall of the vehicle, and the value of the surrounding snowfall of the vehicle It can be calculated as a valid value of the surrounding environment of the vehicle.

That is, in step S255, the steering control device determines whether the illuminance sensor, the rain sensor and the snow sensor are faulty in the step S253. The value, the value of the surrounding rainfall state of the vehicle, and the value of the surrounding snowfall of the vehicle may be calculated as an effective value of the surrounding environment of the vehicle.

In another example, in step S255, when it is determined whether the corresponding sensors are faulty, and a sensor among the corresponding sensors is faulty, a valid surrounding environment value of the vehicle may not be calculated. That is, the preset value of the ambient illuminance state of the vehicle, the value of the ambient rainfall of the vehicle, and the value of the ambient snowfall of the vehicle may be zero.

That is, in step S255, the steering control device determines whether the illuminance sensor, the rain sensor, and the snow sensor fail in the step S253. may not be calculated.

The step (S300) of driving the steering motor applied to the method of controlling the steering using the ambient illuminance of the vehicle, the ambient rainfall and the ambient snow of the vehicle according to the present embodiment includes the step of generating the steering force (S351) and the steering motor. It may include a driving step (S353) and the like.

In the step S351, the steering force may be generated based on the vehicle speed information and the vehicle torque information among the extracted vehicle state information together with the calculated valid surrounding environment value (S351).

For example, in step S351, through the steering control device, the steering force (one For example, a first tension force) may be generated.

In step S353, the steering motor may be driven based on the generated steering force (eg, the first steering force) (S343).

In one example, in step S343, the steering motor may be driven based on the steering force (eg, the first steering force) generated in step S351 through the steering control device.

In another example, in step S353, the vehicle speed value and the steering angle value of the vehicle among the state information values of the vehicle extracted to the steering force (eg, the first steering force) generated in step S351 are determined through the steering control device. The steering motor may be driven by adding a steering force (eg, a second steering force) calculated based on the steering force.

10 is a detailed flowchart for explaining a method of sequentially processing sensor information applied to a method of controlling steering using ambient illuminance of the vehicle, ambient rainfall and ambient snowfall of the vehicle according to the present embodiment.

10, the method of sequentially processing sensor information (S251) applied to the method of controlling steering using the ambient illuminance of the vehicle, the ambient rainfall and the ambient snowfall of the vehicle according to the present embodiment (S251), the ambient illuminance information The processing step (S251-1), the processing of the surrounding rainfall information (251-1), the processing of the surrounding rainfall information (251-3), and the like may be included.

First, in step S251-1, through the steering control device, vehicle-related information is provided from step S100 (eg, step S153), and identification information of the illuminance sensor can be extracted together with ambient illuminance information of the vehicle. (S251-1).

Thereafter, in step 251-2, the vehicle-related information is received from the step S100 (eg, step S153) through the steering control device, and the identification information of the rainfall sensor can be extracted together with the surrounding rainfall information of the vehicle. (S251-2).

Thereafter, in step S251-3, the vehicle-related information is received from the step S100 (eg, step S153) through the steering control device, and identification information of the snowfall sensor can be extracted together with the surrounding strength information of the vehicle. (S251-3).

As shown in the figure, the method for processing sensor information according to the present embodiment is illustrated as processing the ambient illuminance information first, and then processing the ambient rainfall information and ambient river information information, but is not limited thereto, and sensor information processing order may be changed.

11 is a detailed flowchart for explaining a method of sequentially determining the presence or absence of a failure of each sensor applied to the method of controlling steering using the ambient illuminance of the vehicle, the ambient rainfall and the ambient snowfall of the vehicle according to the present embodiment.

Referring to FIG. 11 , the method of sequentially determining the presence or absence of a failure for each sensor applied to the method of controlling steering using the ambient illuminance of the vehicle, the ambient rainfall of the vehicle, and the ambient snowfall according to the present embodiment is the Determining whether there is a failure (253-1 to 253-3), determining whether the rain sensor is malfunctioning (253-4 to 253-6), and determining whether the snow sensor is malfunctioning (253-7 to 253) -9) and the like.

In the step (253-1 to 253-3) of determining the presence or absence of a failure of the illuminance sensor, first, through the steering control device, the extracted surroundings for each illuminance sensor based on the identification information of the illuminance sensor extracted in step S251-1 It is possible to determine whether the illuminance sensor is malfunctioning by performing a validation check on the illuminance information (S253-1).

Then, through the steering control device, an effective peripheral illuminance value of the vehicle may be calculated according to the determination result of step S253-1.

In one example, when the illuminance sensor is normal as a result of the determination in step S253-1 through the steering control device, the ambient illuminance information of the vehicle extracted in step S251-1 may be calculated as a valid ambient illuminance value of the vehicle ( S253-2).

In another example, when the illuminance sensor is defective as a result of the determination in step S253-1, the preset ambient illuminance value of the vehicle may be calculated as a valid peripheral illuminance value of the vehicle through the steering control device (S253-3). Here, the preset peripheral illuminance value of the vehicle may be 0.

In the step (253-4 to 253-6) of determining whether the rain sensor is malfunctioning, first, through the steering control device, the extracted surroundings for each rainfall sensor based on the identification information of the rain sensor extracted in step S251-2 By performing a validity check on the rainfall information, it is possible to determine whether the rain sensor is faulty (S253-4).

Then, through the steering control device, it is possible to calculate an effective ambient rainfall value of the vehicle according to the determination result of step S253-4.

In one example, when the rainfall sensor is normal as a result of the determination in step S253-4 through the steering control device, the surrounding rainfall information of the vehicle extracted in step S251-2 may be calculated as a valid surrounding rainfall value of the vehicle ( S253-5).

In another example, when the rainfall sensor is faulty as a result of the determination in step S253-4 through the steering control device, a preset ambient rainfall value of the vehicle may be calculated as a valid ambient rainfall value of the vehicle (S253-6). Here, the preset ambient rainfall value of the vehicle may be 0.

In the step (253-7 to 253-9) of determining whether the snow sensor is faulty, first, through the steering control device, the extracted surroundings for each snow sensor based on the identification information of the snow sensor extracted in step S251-3 It is possible to determine whether the snowfall sensor is faulty by performing a validation check on the snowfall information (S253-7).

Then, through the steering control device, it is possible to calculate an effective value of surrounding snowfall of the vehicle according to the determination result of step S253-7.

In one example, when the snow sensor is normal as a result of the determination in step S253-7 through the steering control device, the ambient snowfall value of the vehicle extracted in step S251-3 may be calculated as an effective vehicle ambient snow value ( S253-8).

In another example, when the snow sensor is faulty as a result of the determination in step S253-7, the preset snowfall value of the vehicle may be calculated as a valid ambient snow value of the vehicle through the steering control device (S253-9). Here, the preset snowfall value around the vehicle may be 0.

As shown in the figure, the method of sequentially determining the presence or absence of a failure for each sensor according to this embodiment first determines the presence or absence of a failure of the illuminance sensor, and then determines the presence or absence of failure of the rain sensor and failure of the snow sensor. Although it is shown that this is not limited thereto, the order of determining the presence or absence of a failure of the sensor may be changed.

12 is a flowchart for explaining a method of sequentially calculating effective ambient environment values of a vehicle applied to a method of controlling steering using ambient illuminance of the vehicle, ambient rainfall and ambient snowfall of the vehicle according to the present embodiment.

Referring to FIG. 12 , the method of sequentially calculating the effective ambient environment value of the vehicle applied to the method of controlling steering using the ambient illuminance of the vehicle, the ambient rainfall of the vehicle, and the ambient snowfall according to the present embodiment is, Calculating the ambient environment value of the valid vehicle by reflecting the ambient illuminance value (S255-1), calculating the ambient environment value of the valid vehicle by reflecting the ambient rainfall value of the valid vehicle (S255-2) and calculating the ambient environment value of the valid vehicle (S255-2) It may include a step (S255-3) of calculating an effective value of the surrounding environment of the vehicle by reflecting the surrounding snowfall value.

In step S255-1, through the steering control module 200, the effective ambient illuminance value of the vehicle calculated in step S253-2 or S253-3 is used as an effective surrounding environment value of the vehicle (for example, the first valid value of the vehicle's surrounding environment) (S255-1).

In step S255-2, through the steering control device, the effective vehicle ambient rainfall value calculated in step S253-5 or step S253-6 is calculated as the effective vehicle ambient environment value (one day) calculated in step S255-1. For example, it is possible to calculate the ambient environment value of the effective vehicle (eg, the ambient environment value of the second effective vehicle, etc.) by reflecting the first effective vehicle ambient environment value (S255-2).

In step S255-3, through the steering control device, the effective vehicle ambient snow value calculated in step S253-8 or step S253-9 is calculated as the effective vehicle ambient environment value calculated in step S255-2 (one For example, it is possible to calculate the ambient environment value of the effective vehicle (eg, the ambient environment value of the third effective vehicle, etc.) by reflecting the second effective vehicle ambient environment value (S255-3).

As shown in the figure, the method for sequentially calculating the effective vehicle ambient environment value according to this embodiment first calculates the effective vehicle ambient environment value using the effective vehicle ambient illuminance value, and then Although it is illustrated that the effective vehicle ambient environment value is calculated using the ambient rainfall value and the effective vehicle ambient snowfall value, the present invention is not limited thereto, and the order of calculating the effective ambient environment value of the vehicle may be changed.

13 is a block diagram showing the configuration of the steering control apparatus according to the present embodiment.

Referring to FIG. 13 , the present embodiment described above may be implemented in a computer system, for example, as a computer-readable recording medium. 13 , the computer system 1000 such as a steering control device includes one or more processors 1010 , a memory 1020 , a storage unit 1030 , a user interface input unit 1040 , and a user interface output unit 1050 . ) may include at least one or more elements, and they may communicate with each other via the bus 1060 . Further, the computer system 1000 may also include a network interface 1070 for connecting to a network. The processor 1010 may be a CPU or a semiconductor device that executes processing instructions stored in the memory 1020 and/or the storage 1030 . The memory 1020 and the storage unit 1030 may include various types of volatile/nonvolatile storage media. For example, the memory may include a ROM 1021 and a RAM 1023 .

Accordingly, the embodiments of the present invention may be implemented as a computer-implemented method or a non-volatile computer recording medium in which computer-executable instructions are stored. The instructions, when executed by a processor, may perform the method according to at least one embodiment of the present invention.

Although one embodiment of the steering control apparatus and method according to the present embodiment has been described above, the present embodiment is not limited thereto, and various modifications are made within the scope of the claims, the detailed description of the invention, and the accompanying drawings. It is possible to carry out this embodiment, and this also belongs to the present embodiment.

100: vehicle information acquisition module 110: sensor
111: vehicle speed sensor 112: torque sensor
113: steering angle sensor 114: illumination sensor
115: rain sensor 116: snow sensor
200: steering control module

Claims (20)

A vehicle that measures the state of the vehicle and the surrounding environment through each sensor, and based on this, obtains status information including vehicle speed information, torque information and steering angle information, and surrounding environment information including illuminance information, rainfall information and strength information information acquisition module; and
Steering control that extracts the state information and surrounding environment information from the vehicle information acquisition module, performs validation on the surrounding environment information, and generates an assist steering force based on the vehicle speed information and torque information to drive a steering motor contains a module;
The steering control module is
Calculating a first steering force for performing steering assist control based on the vehicle speed information and torque information, calculating a second steering force for performing assist restoration control based on the vehicle speed information and steering angle information, and calculating the second steering force based on the first steering force Steering assist control is performed based on the assist steering force calculated by adding a steering force,
The validation is
Determining whether each of the illuminance sensor, the rainfall sensor, and the snowfall sensor is faulty based on the sensor identification information for identifying each of the surrounding environment information, and determining that the information about the sensor determined to be normal is valid;
The first steering force calculation is,
It is calculated by further reflecting the surrounding environment information, but among the surrounding environment information, information determined to be valid is calculated and reflected as a valid surrounding environment value, and information determined to be invalid is calculated and reflected as a preset surrounding environment value A steering control device comprising:
delete delete delete delete delete The method of claim 1,
The vehicle information acquisition module measures the ambient illuminance of the vehicle through the illuminance sensor, and acquires peripheral environment information of the vehicle including the identification information of the illuminance sensor together with the peripheral illuminance information of the vehicle based on this, and the obtained A steering control device for acquiring vehicle-related information including surrounding environment information of the vehicle and state information of the vehicle and providing the information to the steering control module.
8. The method of claim 7,
The steering control module receives vehicle-related information from the vehicle information acquisition module, extracts identification information of the illuminance sensor together with vehicle state information and ambient illuminance information of the vehicle, and the extracted peripheral illuminance of the vehicle for each illuminance sensor Validation is performed on the information to determine whether the illuminance sensor is malfunctioning, and according to the determination result, a valid ambient illuminance value of the vehicle is calculated, and a vehicle of the extracted state information of the vehicle together with the calculated ambient illuminance value of the effective vehicle. A steering control device that generates steering force based on vehicle speed information and vehicle torque information to drive a steering motor.
The method of claim 1,
The vehicle information acquisition module measures the surrounding rainfall of the vehicle through the rainfall sensor, and acquires surrounding environment information of the vehicle including the identification information of the rainfall sensor together with the surrounding rainfall information of the vehicle based on this, and the obtained A steering control device for acquiring vehicle-related information including surrounding environment information of the vehicle and state information of the vehicle and providing the information to the steering control module.
10. The method of claim 9,
The steering control module receives vehicle-related information from the vehicle information acquisition module, extracts identification information of the rainfall sensor together with vehicle status information and vehicle ambient rainfall information, and extracts the extracted vehicle ambient rainfall for each rainfall sensor. Validation is performed on the information to determine whether the rain sensor is faulty, and according to the determination result, a valid ambient rainfall value of a valid vehicle is calculated, and a vehicle among the extracted vehicle state information together with the calculated ambient rainfall value of the effective vehicle. A steering control device that generates steering force based on vehicle speed information and vehicle torque information to drive a steering motor.
The method of claim 1,
The vehicle information acquisition module measures the surrounding snowfall of the vehicle through the snowfall sensor, and acquires surrounding environment information of the vehicle including identification information of the snowfall sensor together with the surrounding snowfall information of the vehicle based on this, and the acquired A steering control device for acquiring vehicle-related information including surrounding environment information of the vehicle and state information of the vehicle and providing the information to the steering control module.
12. The method of claim 11,
The steering control module receives vehicle-related information from the vehicle information acquisition module, extracts identification information of the snow sensor along with vehicle state information and vehicle ambient snow information, and snowfall sensors around the extracted vehicle Validation is performed on the information to determine whether the snow sensor is faulty, and according to the determination result, a valid vehicle ambient snow value is calculated, and a vehicle among the extracted vehicle status information together with the calculated effective vehicle ambient snow value. A steering control device that generates steering force based on vehicle speed information and vehicle torque information to drive a steering motor.
The method of claim 1,
The vehicle information acquisition module measures the ambient illuminance of the vehicle, the surrounding rainfall of the vehicle, and the surrounding snow of the vehicle through the illuminance sensor, the rainfall sensor and the snow sensor, and based on this, the identification of the illuminance sensor together with the surrounding illuminance information of the vehicle Acquire information, surrounding environment information of the vehicle including identification information of the rainfall sensor together with the information and the surrounding rainfall information of the vehicle and the identification information of the snow sensor together with the surrounding rainfall information of the vehicle, the obtained surrounding environment information of the vehicle and the vehicle A steering control device for obtaining vehicle-related information including state information of the vehicle and providing it to the steering control module.
14. The method of claim 13,
The steering control module is
By receiving vehicle-related information from the vehicle information acquisition module, identification information of the illumination sensor together with vehicle status information and ambient illumination information of the vehicle, identification information of the rainfall sensor along with surrounding rainfall information of the vehicle, and surrounding strength information of the vehicle Together, the identification information of the snow sensor is extracted,
For each illuminance sensor, each rainfall sensor, and the snow sensor, the extracted ambient illuminance information of the vehicle, the extracted ambient rainfall information of the vehicle, and the extracted ambient rainfall information of the vehicle are sequentially validated by performing validation of each sensor. Determining whether there is a malfunction,
As a result of the determination, if the sensor among the illuminance sensor, the rainfall sensor and the snowfall sensor is normal, the extracted ambient illuminance information of the vehicle, the extracted ambient rainfall information of the vehicle, and the extracted ambient rainfall information of the vehicle are validated as the surrounding environment value of the vehicle. calculate,
As a result of the determination, if the sensor among the illuminance sensor, rainfall sensor, and snowfall sensor is defective, the preset value of the ambient illuminance of the vehicle, the value of the surrounding rainfall of the vehicle, and the value of the surrounding snowfall of the vehicle are calculated as a valid value of the surrounding environment of the vehicle,
A steering control apparatus for driving a steering motor by generating a steering force based on vehicle speed information and vehicle torque information among the extracted vehicle state information together with the calculated effective vehicle ambient environment value.
The method of claim 1,
Each sensor of the vehicle information acquisition module,
A steering control device comprising at least one of a vehicle speed sensor, a torque sensor, and a steering angle sensor.
delete ◈Claim 17 was abandoned when paying the registration fee.◈ The vehicle's state and surrounding environment are measured through each sensor, and based on this, the vehicle including vehicle speed information, torque information and steering angle information, and surrounding environment information including illuminance information, rainfall information and strength information. obtaining information related to
extracting the state information and the surrounding environment information, and calculating a valid surrounding environment value of the vehicle by performing a validity check on the extracted surrounding environment information; and
generating an assist steering force based on the vehicle speed information and torque information to drive a steering motor;
The step of generating the assist steering force to drive the steering motor comprises:
Calculating a first steering force for performing steering assist control based on the vehicle speed information and torque information, calculating a second steering force for performing assist restoration control based on the vehicle speed information and steering angle information, and calculating the second steering force based on the first steering force and performing steering assist control based on the assist steering force calculated by adding a steering force,
The validation is
Determining whether each of the illuminance sensor, the rainfall sensor, and the snowfall sensor is faulty based on the sensor identification information for identifying each of the surrounding environment information, and determining that the information about the sensor determined to be normal is valid;
The first steering force calculation is,
It is calculated by further reflecting the surrounding environment information, but among the surrounding environment information, information determined to be valid is calculated and reflected as a valid surrounding environment value, and information determined to be invalid is calculated and reflected as a preset surrounding environment value A steering control method comprising:
◈Claim 18 was abandoned when paying the registration fee.◈ 18. The method of claim 17,
Calculating the effective value of the surrounding environment of the vehicle comprises:
receiving the obtained vehicle-related information and extracting identification information of an illuminance sensor together with state information of the vehicle and ambient illuminance information of the vehicle;
determining whether the illuminance sensor malfunctions by performing a validity check on the extracted ambient illuminance information of the vehicle for each illuminance sensor based on the extracted identification information of the illuminance sensor; and
Comprising the step of calculating an effective ambient illuminance value of the vehicle according to the determination result of the illuminance sensor failure,
Driving the steering motor comprises:
generating a steering force based on vehicle speed information and vehicle torque information among the extracted vehicle state information together with the calculated effective vehicle ambient illuminance value; and
and driving the steering motor based on the generated steering force.
◈Claim 19 was abandoned at the time of payment of the registration fee.◈ 18. The method of claim 17,
Calculating the effective value of the surrounding environment of the vehicle comprises:
receiving the obtained vehicle-related information and extracting identification information of a rainfall sensor together with vehicle state information and vehicle surrounding rainfall information;
determining whether the rainfall sensor is faulty by performing a validity check on the extracted surrounding rainfall information of the vehicle for each rainfall sensor based on the extracted identification information of the rainfall sensor; and
Comprising the step of calculating an effective ambient rainfall value of the vehicle according to the determination result of the failure of the rain sensor,
Driving the steering motor comprises:
generating a steering force based on vehicle speed information and vehicle torque information among the extracted vehicle state information together with the calculated effective vehicle ambient rainfall value; and
and driving the steering motor based on the generated steering force.
◈Claim 20 was abandoned when paying the registration fee.◈ 18. The method of claim 17,
Calculating the effective value of the surrounding environment of the vehicle comprises:
receiving the obtained vehicle-related information and extracting identification information of a snowfall sensor together with vehicle state information and vehicle ambient strength information;
determining whether the snow sensor is faulty by performing a validity check on the extracted surrounding snow information for each snow sensor based on the extracted identification information of the snow sensor; and
Comprising the step of calculating an effective surrounding snow value of the vehicle according to the determination result of the failure of the snow sensor,
Driving the steering motor comprises:
generating a steering force based on vehicle speed information and vehicle torque information among the extracted vehicle state information together with the calculated ambient snowfall value of the effective vehicle; and
and driving the steering motor based on the generated steering force.

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