KR20170012729A - Method for controlling electronic power steering and apparatus thereof - Google Patents

Method for controlling electronic power steering and apparatus thereof Download PDF

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Publication number
KR20170012729A
KR20170012729A KR1020150104201A KR20150104201A KR20170012729A KR 20170012729 A KR20170012729 A KR 20170012729A KR 1020150104201 A KR1020150104201 A KR 1020150104201A KR 20150104201 A KR20150104201 A KR 20150104201A KR 20170012729 A KR20170012729 A KR 20170012729A
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KR
South Korea
Prior art keywords
steering
vehicle
map
height
correction
Prior art date
Application number
KR1020150104201A
Other languages
Korean (ko)
Inventor
김재우
Original Assignee
주식회사 만도
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 만도 filed Critical 주식회사 만도
Priority to KR1020150104201A priority Critical patent/KR20170012729A/en
Publication of KR20170012729A publication Critical patent/KR20170012729A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/10—Weight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric steering system and a control method thereof, A steering map calculation unit for calculating a correction steering map by adjusting a reference steering map according to the height of the vehicle; And a drive circuit unit for adjusting the current to the motor that assists the steering force of the steering wheel according to the correction steering map. Thus, by adjusting the current value provided to the motor of the electric power steering apparatus according to the height of the vehicle, the driver can feel the same steering feeling regardless of the weight of the vehicle, thereby improving the operation satisfaction.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an electric power steering apparatus,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an electric steering apparatus and a steering control method, and more particularly, to an electric steering apparatus and a steering control method for controlling steering force using a height of a vehicle, And more particularly, to an electric steering apparatus and a method thereof.

Generally, a vehicle is provided with an electric power steering (EPS) so that the steering wheel can be easily steered, and the EPS assists the steering force of the driver by using the rotational force of the motor.

The EPS includes an electronic control unit (ECU) that controls the driving of the motor when the steering wheel is steered. The ECU receives signals from a steering angle sensor, a torque sensor, a vehicle speed sensor, an engine speed sensor, This is provided to the motor to control the steering feeling of the steering wheel. Accordingly, in the low-speed section, the current value is increased to relatively lighten the steering feeling, and in the high-speed section, the current value is made small, thereby making the steering feeling relatively heavy.

On the other hand, since the reference steering force of the motor is set on the basis of the weight when the driver rides on the vehicle, when the number of passengers increases in addition to the driver, or when the weight of the vehicle is increased by loading a cargo or the like on the vehicle, I feel different. That is, when the weight of the vehicle increases, the frictional force between the vehicle and the road surface increases, so that the driver must use more force to steer the steering wheel. Therefore, the driver feels a sense of steering when adjusting the steering wheel, Can be lowered.

Accordingly, it is necessary to find a way to improve the driver's satisfaction by adjusting the steering force of the motor as the number of passengers of the vehicle increases or the weight of the vehicle changes due to the load of the cargo.

The present invention proposes an electric steering system and an electric steering control system that can provide appropriate steering assistance according to changes in the number of passengers and load weight of the vehicle.

The object is achieved by a vehicle height sensor for measuring a height of a vehicle; A steering map calculating unit for calculating a correction steering map by adjusting a reference steering map according to a height of the vehicle; And a driving circuit for controlling the current supplied to the motor for assisting steering force of the steering wheel according to the correction steering map.

According to the electric power steering apparatus of the present invention, the current value provided to the motor of the electric power steering apparatus can be adjusted according to the height of the vehicle, so that the steering force is adjusted according to the weight of the vehicle, .

FIG. 1 is a block diagram of an electric steering apparatus for adjusting a steering map according to a vehicle load according to an embodiment of the present invention. FIG.
FIG. 2 is a flowchart showing a process of adjusting a steering map according to a garage in the electric power steering apparatus of FIG. 1;
3 is a diagram illustrating an operation of an electric steering control method according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

FIG. 1 is a block diagram of an electric power steering apparatus for adjusting a steering map according to a vehicle load according to an embodiment of the present invention. Referring to FIG.

The steering apparatus for controlling the steering force according to the vehicle load amount of the present invention measures the height of the vehicle to determine the weight of the person or the loaded cargo on the vehicle and adjusts the steering force according to the weight, Can be minimized.

The steering apparatus includes a motor 40 that operates to assist the steering wheel steering force, a height sensor 5 for measuring the height of the vehicle, a vehicle speed sensor 10 for sensing the speed of the vehicle, A steering angle determination unit 15 for determining whether or not to adjust the steering angle map based on the values sensed by the sensor 5 and the vehicle speed sensor 10 and a steering angle calculation unit 15 for calculating a steering angle map using the gain values matched with the vehicle height 20 for selecting a current value to be applied to the motor 40 in accordance with the steering map, a storage unit 25 for storing information related to the reference steering map, the gain value according to the height and the correction steering map, (Electronic Control Unit), and a driving circuit unit 35 for controlling the current provided to the motor 40 according to the calculated steering map.

The height sensor 5 measures the height of the vehicle and can detect a vertical displacement amount between the suspension arm and the car with a voltage by using a potentiometer. The potentiometer has optoelectronic and magnetic flux detectors. The photoelectric type uses a disk, a light emitting diode, and a phototransistor with a slit that rotates with the vertical displacement of the suspension. The magnetic flux detection method uses a Hall element And the magnetic flux is detected by the rotation of the magnet fixed to the shaft in the sensor. It goes without saying that an ultrasonic sensor or a radar sensor that directly measures the distance to the road surface by ultrasonic waves or radar may be used as the height sensor 5.

The height of the vehicle measured by the height sensor 5 may be provided to the steering determiner 15 and the steering map calculator 20.

The vehicle speed sensor 10 can measure the speed of the vehicle using the engine speed of the vehicle. Generally, the height of the vehicle varies with the speed of the vehicle. Therefore, when the height of the vehicle is measured while the vehicle is running, the weight of the vehicle body can not be accurately determined. Accordingly, information on the speed of the vehicle measured by the vehicle speed sensor 10 can be transmitted to the steering determination unit 15 to exclude the height of the vehicle sensed while the vehicle is running.

The steering determination unit 15 can determine whether or not to adjust the steering map according to the height and the speed of the vehicle provided from the vehicle height sensor 5 and the vehicle speed sensor 10. [

First, the steering determination unit 15 confirms information on the height of the vehicle measured by the height sensor 5 only when the speed of the vehicle provided from the vehicle speed sensor 10 is zero, that is, when the vehicle is stopped. That is, the steering determination unit 15 does not allow adjustment of the steering map while the vehicle is running.

When it is determined that the vehicle has stopped according to the vehicle speed supplied from the vehicle speed sensor 10, the steering determination unit 15 is provided with information on the height of the vehicle detected by the height sensor 5. At this time, the steering determination unit 15 receives information about the height of the vehicle detected by the height sensor 5 at a predetermined time interval plural times. Then, the steering determination unit 15 can determine the steering map adjustment when the height of the vehicle provided plural times falls within a predetermined range. That is, the steering determination unit 15 adjusts the steering map only by using the height of the detected vehicle in a stable state in which the height of the vehicle is not changed. For example, the steering determination unit 15 may determine whether the height of each of the plurality of received vehicles is included within a predetermined range according to a preset number of times, and determine the steering map adjustment. Alternatively, the steering determination unit 15 may calculate the difference in the height information of the two vehicles in accordance with the received order with respect to the height of the vehicle received a plurality of times, and determine whether the height difference of the calculated vehicle is within the predetermined error range It can be judged. The steering determination unit 15 may determine steering of the steering map when the height difference of the above-mentioned vehicle falls within a predetermined error range.

For example, if the vehicle suddenly stops while traveling at a high speed, the vehicle may be up and down for a while, and the height of the vehicle may change while a person is getting on and off or loading or unloading the cargo. Therefore, the steering determination unit 15 repeatedly checks the height of the vehicle while the height of the vehicle changes.

On the other hand, the steering determination unit 15 does not allow adjustment of the steering map if it is determined that there is an abnormality in the height sensor 5. For example, when the height of the vehicle measured by the height sensor 5 is not within the normal range but excessively high or low, if the variation range of the height of the vehicle measured over a plurality of times is excessive, . In this case, the steering determination unit 15 does not allow adjustment of the steering map. The normal range can be preset and stored through experiments and the like.

That is, the steering determination unit 15 is in a stable state in which the height of the vehicle does not change while the vehicle is completely stopped, and determines the steering map adjustment if it is determined that there is no abnormality in the height sensor 5.

When the steering determination unit 15 determines the adjustment of the steering map, the steering map calculation unit 20 calculates the correction steering map and applies the calculated correction steering map until the next stop. Thus, the interval between the adjustment and the adjustment of the steering map is set to one cycle, and the same steering map is used in one cycle.

The steering map calculator 20 can calculate the corrected steering map in real time in accordance with the height of the vehicle measured by the height sensor 5, when the adjustment of the steering map is determined in the steering determiner 15. The steering map calculator 20 can calculate the correction steering map by extracting the information on the reference steering map stored in the storage unit 25 and the gain value according to the garage and then multiplying the values by the two values.

Generally, the steering map is designed by matching the current value applied to the motor 40 with the vehicle speed and the steering angle. The reference steering map of the present invention is a map in which a state in which no person is present on the vehicle or a reference state Or may be set as a steering map generated based on a state in which an adult driver boarded the vehicle.

The gain value according to the garage is a value determined experimentally according to the height of the vehicle. The height of the vehicle within the variable range is continuously arranged in the storage unit 25, and the gain that continuously corresponds to the gain value corresponding to the height of the vehicle The map is stored.

Here, the garage varies depending on the vehicle, and the range of the garage variable depending on the vehicle also differs. Accordingly, different gain maps are generated and stored in the storage unit 25 according to the type of the vehicle. On the other hand, the storage unit 25 may store various kinds of information necessary for carrying out the present invention. For example, the storage unit 25 may store information on the correction steering map or the gain value applied in the previous cycle as well as the reference steering map and the gain value. Through this, if the calculation of the correction steering map is not allowed, the steering map of the vehicle can be determined using the reference steering map or the correction steering map applied in the previous cycle.

Therefore, when the height of the vehicle measured by the height sensor 5 is provided, the steering map calculator 20 selects the gain value from the gain map stored in the storage unit 25 and outputs the selected gain value to the reference steering map To generate a new correction steering map.

When the correction map is generated by the steering map calculating unit 20, the ECU 30 can provide the drive circuit unit 35 with a control signal for the current value required in real time in accordance with the correction steering map.

On the other hand, when it is determined that the steering map can not be adjusted by the steering determination unit 15, the ECU 30 uses the previously determined steering map or selects the reference steering map, It is possible to provide the control circuit 35 with the control signal to the driving circuit 35. For example, when the adjustment of the steering map is not permitted by the steering determination unit 15, the drive circuit unit 35 can supply current to the motor 40 using the reference steering map. Alternatively, when adjustment of the steering map is not allowed by the steering determination unit 15, the steering map calculation unit 20 may maintain the correction steering map applied to the vehicle in the previous cycle. That is, the steering map calculating section 20 can apply the correction steering map applied to the vehicle in the previous cycle to the vehicle as it is.

The drive circuit unit 35 supplies the current to the motor 40 in accordance with the control signal supplied from the ECU 30 so that the steering is performed in accordance with the calculated correction steering map.

The process of adjusting the steering map according to the garage in the electric type steering apparatus having such a configuration will now be described with reference to FIG.

When the vehicle is started, the height sensor 5 and the vehicle speed sensor 10 measure the height of the vehicle and the speed of the vehicle, respectively, and provide the measured values to the steering determiner 15 (S200). The height of the vehicle calculated by the height sensor 5 is also provided to the steering map calculating section 20. [

When the vehicle speed measured by the vehicle speed sensor 10 is 0, that is, when the vehicle is stopped (S210), the steering determination unit 15 determines whether the height of the vehicle provided from the height sensor 5 is in the normal range (S220). If the height of the vehicle falls within the normal range, the height of the vehicle measured by the height sensor 5 is compared to determine the height variation of the vehicle within a predetermined error range (S230). Alternatively, the steering determination unit 15 may break whether the height of the vehicle measured a plurality of times is within a predetermined range.

When the amount of change in the height of the vehicle measured a plurality of times is within a predetermined error range, the steering determination unit 15 transmits a message for granting the steering to the steering map calculation unit 20.

The steering map calculating section 20 selects a gain value in the gain map stored in the storage section 25 according to the height of the vehicle provided from the height sensor 5 and multiplies the selected gain value by the reference steering map to calculate a correction steering map (S240).

The calculated correction steering map is provided to the ECU 30. The ECU 30 selects a current value to be applied to the motor 40 according to the vehicle speed and steering angle based on the correction steering map and outputs a control signal to the drive circuit 35) (S250). The driving circuit unit 35 controls the steering force of the motor 40 of the electric power steering system by controlling the current provided to the motor 40 in accordance with the control signal from the ECU 30 (S260).

As described above, according to the present electric-powered steering apparatus, the weight of the vehicle that changes in accordance with the increase or decrease of the load and the cargo loaded on the vehicle is estimated using the height of the vehicle, So that the supplied current value can be adjusted. Accordingly, it is possible to minimize the change in the port due to the increase in the friction with the road surface due to the increase in the weight of the vehicle. That is, even when the weight of the vehicle is large due to a person or a cargo loaded on the vehicle, the driver can feel the same steering feeling as when the weight of the vehicle does not become large, .

3 is a diagram illustrating an operation of an electric steering control method according to an embodiment of the present invention.

Referring to FIG. 3, the electric steering control method of the present invention includes receiving at least one of height information of a vehicle and speed information of a vehicle (S300). The height information of the vehicle and the speed information of the vehicle may be information sensed by each sensor in the above-mentioned vehicle.

If necessary, the electric steering control method may include a steering determination step of allowing the calculation of the correction steering map if the vehicle is in a stopped state based on the speed information of the vehicle (S302). The steering determination step may allow the calculation of the correction steering map when the vehicle is in a stopped state. Or the steering determination step may be allowed to calculate the correction steering map when the vehicle is stationary, the height information of the vehicle received a plurality of times is within a predetermined range, or the height difference of each vehicle is within a predetermined error range .

Also, the electric steering control method of the present invention includes a steering map calculating step of calculating a corrected steering map by adjusting a reference steering map according to the height of the vehicle (S304). For example, the steering map calculation step may calculate the correction steering map using the stored gain value and the reference steering map corresponding to each height of the vehicle. If the calculation of the correction steering map is not allowed in the steering determination step, it is possible to maintain the correction steering map, if any, applied in the previous cycle. Alternatively, the reference steering map may be applied instead of the correction steering map.

Also, the electric steering control method includes a current control step of adjusting the current to the motor that assists the steering force of the steering wheel according to the correction steering map (S306). The current control step may adjust the current to the motor that assists the steering wheel steering force according to the correction steering map or the reference steering map. When the correction steering map is calculated, the correction steering map can be used to adjust the current for assisting the steering force of the steering wheel. If the correction steering map calculation is not permitted, the current may be adjusted by using the reference steering map or the correction steering map applied in the previous cycle.

In addition, the electric steering control method of the present invention can perform all the operations of the electric steering control apparatus described above.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

5: Height sensor 10: Vehicle speed sensor
15: Steering decision part 20: Steering map calculation part
25: storage unit 30: ECU
35: drive circuit section 40: motor

Claims (9)

A height sensor for measuring the height of the vehicle;
A steering map calculating unit for calculating a correction steering map by adjusting a reference steering map according to a height of the vehicle; And
And a driving circuit for adjusting and supplying a current to a motor that assists the steering force of the steering wheel according to the correction steering map. The method according to claim 1,
A vehicle speed sensor for measuring the speed of the vehicle; And
Further comprising: a steering determiner configured to allow the calculation of the correction steering map if the vehicle is in a stop state according to a result measured by the vehicle speed sensor. 3. The method of claim 2,
The steering angle determination unit determines,
Wherein the vehicle is in a stopped state and the calculation of the correction steering map is permitted when the height of the vehicle measured a plurality of times at a predetermined time interval in the height sensor falls within a predetermined range. 3. The method of claim 2,
The steering angle determination unit determines,
Wherein the calculation of the correction steering map is permitted when the height of the vehicle measured by the height sensor falls within a preset normal vehicle height range. 3. The method of claim 2,
The driving circuit unit includes:
Wherein the control unit controls the current supplied to the motor that assists the steering force of the steering wheel according to the reference steering map when calculation of the correction steering map is not permitted by the steering determination unit. 3. The method of claim 2,
Wherein the steering-
And maintains the correction steering map applied to the vehicle in the previous cycle when calculation of the correction steering map is not permitted by the steering determination unit. The method according to claim 1,
Wherein the steering map calculator selects a gain value corresponding to the height of the vehicle according to the height of the vehicle and multiplies the reference steering map to calculate the correction steering map. Receiving at least one of height information of the vehicle and speed information of the vehicle;
A steering map calculation step of calculating a correction steering map by adjusting a reference steering map according to a height of the vehicle; And
And a current control step of adjusting the current to a motor that assists the steering force of the steering wheel according to the correction steering map. 9. The method of claim 8,
Further comprising a steering determining step of, when the vehicle is in a stopped state based on the speed information of the vehicle, allowing calculation of the correction steering map.
KR1020150104201A 2015-07-23 2015-07-23 Method for controlling electronic power steering and apparatus thereof KR20170012729A (en)

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KR1020150104201A KR20170012729A (en) 2015-07-23 2015-07-23 Method for controlling electronic power steering and apparatus thereof

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KR1020150104201A KR20170012729A (en) 2015-07-23 2015-07-23 Method for controlling electronic power steering and apparatus thereof

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109649479A (en) * 2018-12-11 2019-04-19 北汽福田汽车股份有限公司 The control method and device of automobile electric power-assisted steering

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109649479A (en) * 2018-12-11 2019-04-19 北汽福田汽车股份有限公司 The control method and device of automobile electric power-assisted steering

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