KR102474860B1 - Steering wheel control apparatus and method - Google Patents

Abstract

A steering wheel control device and its control method are performed. The steering wheel control device includes an electronic control unit connected to the master module through CAN communication, a tilt motor that moves the steering wheel up and down, and a telemotor that moves the steering wheel back and forth, and the electronic control unit includes the tilt motor or The telemotor is PWM controlled.

Description

Steering wheel control apparatus and its control method {Steering wheel control apparatus and method}

An embodiment of the present invention relates to a steering wheel control device and a control method thereof, and more particularly, to a device for controlling a plurality of motors for vertical and forward movement of a steering wheel using a single electronic control unit (ECU), and It's about how.

The steering wheel 100 of the vehicle may move in a vertical direction (ie, tilt) or move in a forward and backward direction (ie, tele). An example of movement of the steering wheel 100 in the vertical and fore-and-aft directions is shown in FIG. 1 . Control of the tilt motor 240 and the telemotor 250 is required to control the up and down and forward and backward movement of the steering wheel 100 . Conventionally, the control of the tilt motor 240 and the telemotor 250 uses a master module 200 and two slave modules 210 and 220 connected through LIN (Local Interconnect Network) communication 230 as shown in FIG. 2 . The LIN communication 230 has a structure in which a central master module 200 controls a tilt electronic control unit (ECU) 210 and a tele ECU 220, which are slave modules 210 and 220, respectively. In the case of controlling the tilt motor 240 and the telemotor 250 with the conventional master-slave control structure as shown in FIG. 2, the motor control speed is slow and the communication between the master module 200 and the slave modules 210 and 220 is unstable. In addition, since each tilt ECU 210 and tele ECU 220 are required to control the tilt motor 240 and the telemotor 250, the manufacturing cost is high and the control structure is complicated.

A technical problem to be achieved by an embodiment of the present invention is to simultaneously control a tilt motor and a telemotor using one electronic control unit (ECU) and to transmit and receive messages stably and quickly through CAN (Controller Area Network) communication. It is an object of the present invention to provide a steering wheel control device and a control method thereof.

An example of a steering wheel control device according to an embodiment of the present invention for achieving the above technical problem is an electronic control unit connected to a master module through CAN (Controller Area Network) communication; a tilt motor that moves the steering wheel up and down; and a telemotor for moving the steering wheel back and forth, wherein the electronic control unit controls the tilt motor or the telemotor through Pulse Width Modulation (PWM).

An example of a control method according to an embodiment of the present invention for achieving the above technical problem is a control method performed by a steering wheel control device connected to a master module through CAN (Controller Area Network) communication, Receiving a control command from the master module through CAN communication; identifying a speed mode corresponding to the control command among a plurality of speed modes stored in a memory; and controlling at least one of a tilt motor for moving the steering wheel up and down or a telemotor for moving the steering wheel forward and backward in the determined speed mode.

According to an embodiment of the present invention, a tilt motor and a telemotor can be simultaneously controlled through one electronic control unit (ECU). According to the embodiment, the electronic control unit (ECU) may control all of the tilt motor, the telemotor, and the wheel folding actuator. Through CAN communication, it is possible to quickly transmit messages between the master module and the electronic control unit (ECU), and the stability of communication can be secured. In addition, the tilt motor and the telemotor can be controlled at different speeds according to the type of control command. As another embodiment, a stow-in operation that positions the steering wheel away from the driver in an autonomous driving mode or a stow that moves the steering wheel to its original driving position when a front collision warning (FCW) occurs -Able to quickly perform stow out operations, etc. As another embodiment, when the steering wheel is moved up and down or forward and backward, the steering wheel speed may quickly reach the target speed even when a load such as a gear or motor is changed through minimum speed compensation and feedback control. In another embodiment, NVH (Noise, Vibration, Harshness) such as motor inrush may be improved by reflecting speed control and compensation logic.

1 is a diagram showing an example of movement of a steering wheel in up and down and forward and backward directions;
2 is a view showing an example of a conventional master-slave control structure for controlling a steering wheel;
3 is a diagram showing the configuration of an embodiment of a steering wheel control device according to an embodiment of the present invention;
4 is a diagram showing an example of a detailed configuration of an electronic control unit of a steering wheel control device according to an embodiment of the present invention;
5 and 6 are diagrams showing an example of a method of implementing various speed modes of a steering wheel according to an embodiment of the present invention;
7 is a view showing an example of a method for controlling a moving speed of a steering wheel according to an embodiment of the present invention;
8 is a diagram showing an example of a method for storing a vertical movement position of a steering wheel according to an embodiment of the present invention;
9 is a view showing an example of a method for storing a forward and backward movement position of a steering wheel according to an embodiment of the present invention;
10 is a view showing an example of a method of storing a user-specified position of a steering wheel according to an embodiment of the present invention;
11 is a view showing an example of a stow-in/out operation method according to an embodiment of the present invention;
12 is a view showing an example of a stow-out method upon front collision detection according to an embodiment of the present invention, and
13 is a diagram illustrating an example of a method for detecting an error in a steering wheel control operation according to an embodiment of the present invention.

Hereinafter, a steering wheel control apparatus and a control method thereof according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

3 is a diagram showing the configuration of an embodiment of a steering wheel control device according to an embodiment of the present invention.

Referring to FIG. 3 , the vehicle steering wheel control unit 300 includes an electronic control unit (ECU) 310, a tilt motor 320, a telemotor 330, a wheel folding actuator 340, and a direct control switch 345. ), etc. Depending on the embodiment, the wheel folding actuator 340 for folding the steering wheel and the direct control switch 345 for directly performing various control operations in the developer mode may be omitted.

The steering wheel control device 300 is connected to the master module 350 through CAN communication. For CAN communication, the steering wheel controller 300 and the master module 350 include CAN controllers 362 and 364, respectively. The CAN controllers 362 and 364 of the steering wheel controller 300 and the master module 350 transmit and receive messages through respective CAN transceivers 360 and 361.

The master module 350 is a module that receives various sensor information 370 of the vehicle or receives and processes inputs from various switches 380 . For example, the master module 350 transmits a message including a control command therefor through CAN communication when receiving a sensed value of a front sensor or receiving a switch input related to adjusting the up/down or front/rear position of a steering wheel from a user. can Various types of master modules implemented in conventional vehicles may be applied to this embodiment.

When receiving a control command from the master module 350, the steering wheel controller 300 controls driving of the tilt motor 320, the telemotor 330, the wheel folding actuator 340, and the like accordingly. The tilt motor 320 is a motor that drives the vertical movement of the steering wheel, and the telemotor 330 is a motor that drives the forward and backward movement of the steering wheel. For example, when the electronic control unit (ECU) 310 receives a vertical movement command (tilt command) or a forward and backward movement command (tele command) of the steering wheel from the master module 350, the tilt motor 320 or the telemotor ( 330) to move the steering wheel up and down or back and forth.

The steering wheel control device 300 of this embodiment may be installed in an autonomous vehicle. In the case of the autonomous driving mode, the steering wheel control apparatus 300 may perform a stow-in operation to position the steering wheel away from the driver. Alternatively, when a driver's prompt action is required, such as front collision detection during autonomous driving, the steering wheel control device 300 quickly moves the steering wheel to a position where the driver can operate the stow-out operation. can do. The wheel folding actuator 340 may perform an operation of folding the steering wheel in half during a stow-in operation. An example of a method of controlling the stow-in and stow-out operations of the steering wheel controller 300 is shown in FIGS. 10 and 11 .

When the user adjusts the position of the steering wheel by pressing the up/down switch (ie, the tilt switch) or the forward/backward move switch (ie, the tele switch), the moving speed of the steering wheel can move slowly so that the user can carefully adjust the position. However, it is necessary to quickly move the position of the steering wheel to a position where the driver can operate, such as the front collision detection, which was previously considered. Therefore, the steering wheel control apparatus 300 of the present embodiment proposes a method of controlling the moving speed of the steering wheel differently according to the type of control command, which will be reviewed again in FIGS. 5 and 6 .

When the steering wheel is moved by driving the tilt motor 320 and the telemotor 330, the moving speed of the steering wheel may be slow to reach the target speed due to friction of gears connecting the steering wheel and each motor. . Therefore, the steering wheel control apparatus 300 of this embodiment suggests a method of controlling the rotational speed of the motors 320 and 330 through minimum speed compensation and feedback control so that the moving speed of the steering wheel can quickly reach the target speed, This will be reviewed again in FIG. 7 . In addition to this, the steering wheel control device 300 may perform various functions such as a function of moving the steering wheel to a predefined basic position, and various control methods of the steering wheel will be reviewed again below in FIG. 5 .

4 is a diagram showing an example of a detailed configuration of an electronic control unit (ECU) of a steering wheel control device according to an embodiment of the present invention.

Referring to FIG. 4, the electronic control unit (ECU) 310 of the steering wheel control device 300 includes a micro control unit (MCU) 400, a memory 405, a first MOSFET gate driver 410, a first 1 H-bridge 420, a second MOSFET gate driver 430, and a second H-bridge 440 are included. In addition to this, the electronic control unit (ECU) 310 may further include various configurations according to embodiments, such as a CAN controller and a V-SUP configuration for receiving power.

The micro control unit (MCU) 400 outputs PWM control signals for the tilt motor 320 and the telemotor 330 in parallel through respective ports to simultaneously control the tilt motor 320 and the telemotor 330 can do. For example, the micro control unit (MCU) 400 transmits a PWM control signal for vertical and/or forward and backward movement of the steering wheel to the first MOSFET gate driver 410 and/or the second MOSFET gate driver 430. do. The first MOSFET gate driver 410 and/or the second MOSFET gate driver 430 generate a PWM control value composed of a duty value of a certain size according to the PWM control signal received from the micro control unit (MCU) 400. to the first H-bridge 420 and/or the second H-bridge 440, and the first H-bridge 420 and/or the second H-bridge 440 is a first MOSFET gate driver ( 410) and/or according to the PWM control value received from the second MOSFET gate driver 430, the tilt motor 320 or the telemotor 330 is supplied with power and driven.

The micro control unit (MCU) 400 receives sensed values (ie, the number of pulses) from the Hall sensor 450 of the tilt motor 320 and the Hall sensor 452 of the telemotor 330 . In addition, it is possible to receive a sensing value for the magnitude of current supplied to each motor from the first H-bridge 420 and the second H-bridge 440 . The micro control unit (MCU) 400 can feedback-control each motor using the rotation speed (ie, revolution per minute (RPM)) of each motor 320 and 330 recognized through the Hall sensors 450 and 452, and for this An example is shown in 7.

The memory 405 includes information on the moving speed of the steering wheel for each type of control command. For example, as shown in FIG. 5 , different speed modes may be defined in the memory 405 according to the type of control command. In this case, the micro control unit (MCU) 400 may control the rotation speed of the tilt motor 320 and the telemotor 330 according to the type of control command.

The memory 405 may also include information about the basic position of the steering wheel. For example, information on the basic position of the steering wheel may be defined as the number of pulses. When located at the upper and front ends of the steering wheel, information on the distance required to move from the end position to the predefined basic position can be defined as the number of pulses measured by the Hall sensor of each motor (320, 330). An example of a method of defining the basic position of the steering wheel using the number of pulses will be described in FIGS. 8 and 9 .

In addition to this, the memory 405 may store various types of information according to embodiments. For example, the memory 405 stores algorithms for various controls described in FIGS. 5 to 14, and the micro control unit (MCU) 400 performs various control operations by executing the algorithms stored in the memory 405. can do. The memory 405 may be implemented as an electrically erasable programmable read-only memory (EEPROM).

5 and 6 are diagrams illustrating an example of a method of implementing various speed modes of a steering wheel according to an embodiment of the present invention.

5 and 6 together, a plurality of control commands 500, 510, and 520 and speed modes 505, 515, and 525 corresponding to the respective control commands 500, 510, and 520 are stored in the memory 405 of the steering wheel control device 300 in advance. have. For example, the memory 405 may map and store identifiers of each control command 500 , 510 , and 520 and speed information (eg, motor RPM value corresponding to each speed) of each speed mode 505 , 515 , and 525 . Each speed mode (505,515,525) includes only one speed information so that the tilt motor 320 and the telemotor 330 can be controlled at the same speed, or the tilt motor 320 and the telemotor 330 are set to different speeds. Velocity information for the tilt motor 320 and the telemotor 330 may be defined so as to be controlled by . This embodiment shows an example of three different speed modes (505, 515, and 525) for convenience of explanation, but the number of speed modes can be variously modified according to the embodiment. The first speed mode is low speed (eg 13 mm/s), the second speed mode is medium speed (eg 45 mm/s), the third speed mode is high speed (eg 60 mm/s), etc. The speed of the mode may be set in various ways according to embodiments.

When the steering wheel control device 300 receives a control command from the master module 350 (S600), it determines whether the control command corresponds to the type of control command whose speed mode is defined in the memory 405 (S610). In addition, if the received control command corresponds to a control command having a speed mode defined in the memory, the steering wheel control device 300 controls the tilt motor 320 and/or the telemotor 330 according to the speed mode of the control command. . If the control command received from the master module is not a control command in which the speed mode is defined in the memory, the steering wheel controller 300 controls the tilt motor 320 and/or the telemotor 330 at a predefined normal speed. can

For example, the first control command 500 may be a steering wheel movement command generated when a user presses a user switch for moving the steering wheel up and down or forward and backward. Referring to FIG. 3, when the master module 350 detects pressing of a tilt switch (ie, up and down switch) or a tele switch (ie, forward and backward movement switch), the master module 350 generates a corresponding control command to control the steering wheel ( 300). The steering wheel control device 300 searches the memory 405 based on the identifier of the first control command 500 included in the message received from the master module 350 and determines the tilt defined in the first speed mode 505. The target speed of the motor 320 and/or the telemotor 330 is determined, and the tilt motor 320 and/or the telemotor 330 are controlled to reach the target speed (S620).

The second control command 510 may be a stow-in or stow-out operation command of the steering wheel. The steering wheel control device 300 searches the memory 405 based on the identifier of the second control command 510 included in the message received from the master module 350 to determine the tilt defined in the second speed mode 515. The target speed of the motor 320 and/or the telemotor 330 is determined, and the tilt motor 320 and/or the telemotor 330 is controlled to reach the target speed (S630).

The third control command 520 may be a steering wheel stow-out operation command in an emergency situation such as front collision detection. The steering wheel movement speed of the stow-out operation performed when switching from the autonomous driving mode to the manual driving mode and the stow-out operation performed in emergency situations such as front collision detection are different from each other can do. The steering wheel control device 300 searches the memory 405 based on the identifier of the third control command 520 included in the message received from the master module 350 to obtain the tilt defined in the third speed mode 525. The target speed of the motor 320 and/or the telemotor 330 is determined, and the tilt motor 320 and/or the telemotor 330 is controlled to reach the target speed (S640).

7 is a diagram illustrating an example of a method of controlling a moving speed of a steering wheel according to an embodiment of the present invention.

Referring to FIG. 7 , when receiving a control command (700), the steering wheel controller 300 drives a tilt motor or a telemotor according to the control command to control the vertical or forward movement of the steering wheel (720). At this time, the steering wheel controller 300 may perform PI (Proportional Integral) feedback control so that the moving speed of the steering wheel accurately reaches the target speed (750). Specifically, the steering wheel controller 300 drives a tilt motor or a telemotor using a predefined PWM duty value (720) and grasps the current rotational speed of each motor through the Hall sensor of each motor Do (730,740). The steering wheel controller 300 generates a new duty value through PI control based on the difference between the current rotation speed and the target speed (760), and drives the tilt motor or telemotor with the new duty value (720). Through this feedback process, the tilt motor 320 or the telemotor 330 can reach an accurate target speed.

The time to reach the target speed through the PI control 750 may be different from each other according to the mechanical friction of gears between the steering wheel and each motor, the rotational speed of each motor, and the like. For example, when the target speed is slow, the change in the difference value between the current speed and the target speed of each motor is slow, so the time to reach the target speed through PI feedback control may be slower than when the target speed is fast. have.

Therefore, the steering wheel controller 300 performs minimum speed compensation so that the target speed can be quickly reached through PI feedback control (710). That is, the steering wheel controller 300 stores a duty value for minimum speed compensation in advance and then outputs a predetermined duty value at an initial point of feedback control. The duty value for minimum speed compensation is the initial speed in order to drive the tilt motor 320 and/or the telemotor 330 to reach the lowest target speed of the steering wheel (that is, the lowest speed among the speeds defined in the speed mode of FIG. 5). It is a duty value obtained through PI control to overcome the difference between the actual rotation speed and the target speed of the motor (320 or 330) when the PWM duty value is input to the motor (320 or 330), which is identified through experiments in advance. After the decision is made, it can be stored in memory. That is, the duty value for the minimum speed compensation is a duty value determined by determining the initial PI control value for the minimum target speed through experiments in advance.

8 is a diagram illustrating an example of a method of storing a vertical movement position of a steering wheel according to an embodiment of the present invention.

Referring to FIG. 8 , the steering wheel can be moved up and down to a certain range by the tilt motor 320 . An up/down range (for example, 0 to 720 pulses) in which the steering wheel can be moved is limited due to a mechanical coupling structure such as a gear between the tilt motor 320 and the steering wheel. When the steering wheel moves a certain distance in an upward or downward direction, it stops moving. A stop that cannot be moved any further due to a mechanical coupling structure is called a hard stop. For example, the steering wheel controller 300 moves the steering wheel to the top or bottom end when the tilt motor 330 does not move for a predetermined time (eg, 500 ms, etc.) (ie, hard stop) It is determined that this is the case, and driving of the tilt motor 320 may be stopped. The steering wheel control apparatus 300 may initially determine the position of the hard stop (eg, setting the current non-moving position to the number of pulses 0) by moving the steering wheel until it no longer moves.

The steering wheel control device 300 stops driving the tilt motor 320 when the steering wheel reaches a point defined upward or downward before the hard stop to prevent a collision of the mechanism, thereby preventing durability degradation. This is called a soft stop.

The highest position for the soft stop of the steering wheel is named 'tilt-up' (800), the lowest position is named 'tilt-down' (820), and the predefined basic position among the vertical movement range is named 'tilt-up' (800). It is named 'basic position' (810).

The moving distance of the steering wheel is determined by the number of rotations of the tilt motor 320, and the number of rotations can be recognized by the hall sensor 450 of the tilt motor. Accordingly, the steering wheel controller 300 may define a tilt-up 800, a tilt-down 820, a tilt-basic position 810, and the like using the number of pulses 830. In other words, the number of rotations of the motor to move to the tilt-basic position 810 using the hard stop position as the reference point may be determined as the number of pulses 830 and stored in the memory 405 in advance. In addition, a range (for example, 4 to 716 pulses) in which the user can operate the tilt switch can be stored in advance in the memory 405 .

For example, when receiving a control command to position the steering wheel at the tilt-base position 810, the steering wheel controller 300 moves the steering wheel all the way up to the position of the hard stop (ie, the position of the pulse number 0). ) is identified, the tilt motor 320 may be rotated until the number of pulses 830 for the tilt-basic position stored in the memory 405 is reached to position the steering wheel at the basic position. As another example, the steering wheel controller 300 allows the user to move the steering wheel based on location information of tilt-up (eg, pulse number 4) and tilt-down (eg pulse number 716) stored in a memory. A control such as a soft stop may be performed so that the tilt-up 800 and the tilt-down 820 may be adjusted only. In addition to this, when the user adjusts the steering wheel by moving it up and down and then stores the position, the steering wheel controller 300 may store the number of pulses up to the user-designated position based on the hard stop position.

9 is a diagram illustrating an example of a method of storing a forward/backward movement position of a steering wheel according to an embodiment of the present invention.

Referring to FIG. 9 , the steering wheel can be moved forward and backward to a certain range by a telemotor 330 . The front and back range in which the steering wheel can move is limited by a mechanical coupling structure such as a gear between the tile motor 330 and the steering wheel. In other words, when the steering wheel moves a certain distance forward or backward, it stops moving. A stop that cannot be moved any further due to a mechanical coupling structure is called a hard stop.

The steering wheel controller 300 determines that the steering wheel has moved to the front or rear end if the telemotor 330 does not move for a predetermined time (eg, 500ms, etc.) (ie, hard stop), and Driving of the motor 330 may be stopped.

The steering wheel control device 300 stops driving the telemotor 330 when the steering wheel reaches a point defined forward or backward before the hard stop, thereby preventing a collision of the mechanism and preventing durability deterioration. This is called a soft stop.

The position of the front end for the soft stop of the steering wheel is named 'tele-out' (900). The steering wheel controller 300 may define various positions as the number of pulses 950 based on the position of the hard stop (ie, the position of the pulse number 0). For example, when the user defines the range section in which the steering wheel can be adjusted forward and backward as from tele-out 900 to tele-in 920, the positions of tele-out 900 and tele-in 920 It can be defined as the number of pulses generated to move from the location of the hard stop to the tele-out 900 and tele-in 920, respectively. In addition, a predefined basic position (ie, tele-basic position) 930 in the forward/backward movement range may be defined as the number of pulses determined based on the position of the hard stop.

For example, when receiving a control command for positioning the steering wheel at the basic position, the steering wheel control device 300 moves the steering wheel to the upper end and the front end to determine the position of the hard stop in the tilt direction and the tele direction (i.e., pulse After figuring out the position of the number 0), the steering wheel can be controlled to be positioned at the salpin tilt-basic position 810 in FIG. 8 and the telt-basic position 930 of the present embodiment.

The position of the stow-in 940 for the stow-in operation of the steering wheel in an autonomous driving mode or the like may be defined as the number of pulses. For example, the steering wheel controller 300 drives the telemotor 330 to end the stow-in operation when the steering wheel is moved backward by a predetermined number of pulses for stow-in.

The steering wheel controller 300 may store the number of pulses defining various positions of the steering wheel in the memory 405 . In addition to this, when the user adjusts the steering wheel by moving it back and forth and then stores the position, the steering wheel controller 300 may store the number of pulses up to the user-designated position based on the position of the hard stop in the memory 405. .

Up and down movement of the steering wheel may be limited according to the forward and backward movement range. For example, when the steering wheel enters a range from tele-in 920 to stow-in 940, the steering wheel controller 300 may move the steering wheel to the tilt-basic position 810. In addition, the steering wheel controller 300 may fix the steering wheel to the tilt-basic position 810 so that the steering wheel does not move up and down in the range of tele-in 920 to stow-in 940. That is, within the range of the tele-in 920 to the stow-in 940, the user may not be able to adjust the vertical position of the steering wheel. In addition to this, the movement limiting range of the steering wheel may be variously set according to the mechanical structure of gears for vertical movement and forward/backward movement of the steering wheel.

10 is a diagram illustrating an example of a method of storing a user-designated position of a steering wheel according to an embodiment of the present invention.

Referring to FIG. 10 , the steering wheel control device 300 receives a control command for vertical or forward movement from the master module 350 (S1000). After the user moves the position of the steering wheel up and down or back and forth, presses a memory setting switch (eg, IMS-set switch) and sets a plurality of memory switches (eg, IMS-set switch) within a certain period of time (eg, 3 seconds). -1 switch or IMS-2 switch, etc.) is pressed, the master module 350 transmits a memory storage control command to the steering wheel controller 300 (S1010). Upon receiving the memory storage control command from the master module 350, the steering wheel controller 300 determines the current position of the steering wheel (ie, the number of pulses from the tilt-up position and tele-out to the current position of the steering wheel) and the identification information of the memory switch are mapped and stored in the memory 405 .

The user may press the memory switch to position the steering wheel at a location of the steering wheel that is mapped and stored with the corresponding memory switch. In other words, when the steering wheel controller 300 receives a memory loading control command from the master module 350, the steering wheel location information mapped and stored in the memory 405 with the corresponding memory switch is identified, and then the steering wheel is positioned. Move according to information.

11 is a diagram illustrating an example of a stow-in/out operation method according to an embodiment of the present invention.

Referring to FIG. 11 , the steering wheel control device 300 receives a stow-in or stow-out control command from the master module 350 (S1100). The stow-in control command may be generated when changing to an autonomous driving mode or when a user presses a stow-in switch. The stow-out control command may occur when switching from the autonomous driving mode to the manual driving mode.

The steering wheel control device 300 determines whether a stow-in or stow-out operation is already being performed (S1100). For example, there may be a case where the user presses the stow-in switch while switching to the autonomous driving mode or presses the stow-in switch and then presses the stow-in switch again before the operation process is completed.

The steering wheel control apparatus 300 stops the operation if the stow-in or stow-out operation is already being performed (S1130). That is, the user can immediately stop the stow-in or stow-out operation currently in progress by pressing the stow-in switch or the stow-out switch once again.

If the stow-in or stow-out operation is not being performed, the steering wheel control apparatus 300 normally performs the stow-in or stow-out operation (S1120).

12 is a diagram illustrating an example of a stow-out method upon detecting a frontal collision according to an embodiment of the present invention.

Referring to FIG. 12 , the steering wheel control device 300 performs a stow-out operation when receiving a forward collision detection signal from the master module 350 (S1200). The stow-out operation shown in FIG. 11 and the stow-out operation shown in FIG. 12 may be distinguished from each other to have different moving speeds. That is, as shown in FIGS. 5 and 6 , the moving speed of the steering wheel can be made different depending on the type of control command.

The steering wheel control device 300 determines whether a stow-out operation is already being performed (S1210). If the stow-out operation is already being performed, the stow-out operation is stopped (S1230). That is, the user can immediately stop the currently operating stow-out operation through the stow-out switch. If the stow-out operation is not being performed, the steering wheel controller 300 normally performs the stow-out operation (S1220).

13 is a diagram illustrating an example of a method for detecting an error in a steering wheel control operation according to an embodiment of the present invention.

Referring to FIG. 13 , upon receiving a control command, the steering wheel control device 300 transmits a corresponding control operation to the tilt motor and/or the telemotor (S1300). The steering wheel controller 300 determines whether each motor rotates normally through the hall sensor of the tilt motor and/or the telemotor (S1310). Even though the control command is delivered to each motor, if normal motor rotation is not detected for a predefined time (for example, 1 second) through the Hall sensor or if the sensing current is more than a predefined reference current, the steering wheel control device ( 300) outputs an error and stops the control operation (S1320).

The present invention can also be implemented as computer readable codes on a computer readable recording medium. A computer-readable recording medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices. In addition, the computer-readable recording medium may be distributed to computer systems connected through a network to store and execute computer-readable codes in a distributed manner.

So far, the present invention has been looked at with respect to its preferred embodiments. Those skilled in the art to which the present invention pertains will be able to understand that the present invention can be implemented in a modified form without departing from the essential characteristics of the present invention. Therefore, the disclosed embodiments should be considered from an illustrative rather than a limiting point of view. The scope of the present invention is shown in the claims rather than the foregoing description, and all differences within the equivalent scope will be construed as being included in the present invention.

300: steering wheel control device, 310: electronic control unit (310)
320: tilt motor 330: telemotor
350: master module

Claims (10)

An electronic control unit connected to the master module through CAN (Controller Area Network) communication;
a tilt motor that moves the steering wheel up and down; and
A telemotor for moving the steering wheel back and forth;
The electronic control unit controls the tilt motor or the telemotor through Pulse Width Modulation (PWM);
The electronic control unit,
a first MOSFET gate driver outputting a PWM control value according to the control signal received from the microcontroller;
a second MOSFET gate driver outputting a PWM control value according to a control signal received from the microcontroller;
a first H-bridge providing power to the tilt motor according to a PWM control value output from the first MOSFET gate driver; and
and a second H-bridge providing electric power to the telemotor according to a PWM control value output from the second MOSFET gate driver. The method of claim 1, wherein the electronic control unit,
CAN controller for sending and receiving messages through CAN communication;
a memory for storing a plurality of speed modes; and
and the microcontrol unit controlling the tilt motor or the telemotor in one of the plurality of speed modes according to the type of control command included in the message received from the master module through the CAN controller. steering wheel control device. According to claim 2,
The memory includes a first number of pulses defining a basic position of the steering wheel in the vertical direction and a second number of pulses defining a basic position of the steering wheel in the fore-and-aft direction;
The microcontrol unit controls the tilt motor and the telemotor to move the steering wheel up and down and back and forth to an end position, and at the end position, pulses recognized through hall sensors located in the tilt motor and the telemotor, respectively and driving the tilt motor and the telemotor until the number of pulses reaches the first pulse number and the second pulse number, respectively, to position the steering wheel at a basic position. According to claim 2,
When receiving a stow-in control command or a stow-out control command from the master module, the microcontrol unit controls the tilt motor and the telemotor to perform a stow-in operation of positioning the steering wheel away from the driver or the steering A steering wheel control device characterized in that performing a stow-out operation to move the wheel to a position before the stow-in operation. According to claim 4,
The steering wheel control device according to claim 1 , wherein the microcontroller performs the stow-out operation when receiving a forward collision detection signal in a stow-in state of the steering wheel. According to claim 2,
The memory includes basic duty values of PWN control for optimum speed,
The steering wheel control device according to claim 1 , wherein the micro control unit performs PI feedback control so that the RPM of the tilt motor or the telemotor becomes a target RPM starting from the basic duty value when a control command is received. According to claim 2,
The memory defines and stores information about a predetermined section among the forward and backward movement sections of the steering wheel in the number of pulses,
The steering wheel control device according to claim 1 , wherein the micro control unit positions the steering wheel at a predetermined basic position in an up and down direction when the steering wheel is located within the predetermined section. According to claim 2,
The microcontrol unit outputs an error if motion is not detected through a hall sensor of the tilt motor or the telemotor within a predetermined period of time after outputting a control signal for the operation of the tilt motor or the telemotor. Characteristic steering wheel control device. delete In the control method performed by the steering wheel control device connected to the master module through CAN (Controller Area Network) communication,
Receiving a control command from the master module through the CAN communication;
identifying a speed mode corresponding to the control command among a plurality of speed modes stored in a memory; and
Controlling at least one of a tilt motor for moving the steering wheel up and down or a telemotor for moving the steering wheel back and forth in the determined speed mode;
The control step is
outputting a PWM control value according to the control command by a first MOSFET gate driver or outputting a PWM control value by a second MOSFET gate driver according to the control command;
A first H-bridge provides power to the tilt motor according to a PWM control value output from the first MOSFET gate driver, or a second H-bridge provides power to the tilt motor according to a PWM control value output from the second MOSFET gate driver. A control method comprising the steps of providing power to the telemotor.

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