KR20200009272A - Apparatus for controlling Motor Driven Power Steering, system having the same and method thereof - Google Patents

Abstract

The present invention relates to an MDPS control device, a system including the same and a method thereof. According to an embodiment of the present invention, the MDPS control device includes: an MDPS control part outputting motor driven power steering (MDPS) torque tuned by a local compensation factor which is preset based on driver torque generated by a driver and a lane keeping assistance system (LKAS) demand torque received from an LKAS; and a torque compensation part compensating for the MDPS torque tuned by the MDPS control part based on a local addition compensation factor, and compensating for the MDPS torque based on an LKAS compensation factor according to a difference between the current LKAS demand torque and the previous LKAS demand torque in accordance with a change in the LKAS demand torque in order to output MDPS compensation torque. Therefore, the present invention is capable of enhancing LKAS lane departure control performance.

Description

Apparatus for controlling Motor Driven Power Steering, system having the same and method

The present invention relates to an MDPS control apparatus, a system including the same, and a method thereof, and more particularly, to a technique capable of improving performance of a LKAS and minimizing heterogeneity of a user regardless of tuning of an MDPS system.

Lane Keeping Assistance System (LKAS) is a system that detects a lane through a sensor and changes the position information of the detected lane to a torque value to prevent lane departure of the vehicle.

Recently developed LKAS Motor Driven Power Steering (MDPS) cooperative control device overlays the torque value requested from LKAS to MDSP steering logic by overlaying the torque sensor value, which is the input value of MDPS steering logic, through MDPS LKAS signal processing logic. . That is, by adding the torque currently requested from the LKAS to the MDPS system to prevent lane departure of the vehicle.

However, the added torque value is affected by the MDPS system tuning value as it enters the column torque input value.

In more detail, when the MDPS system is tuned for cooperative control of the LKAS, and the tuning of the tuned MDPS system is changed, the LKAS cannot control the vehicle as desired through the MDPS system. In addition, as the LKAS required torque is added during operation with the existing MDPS operating torque, there is a problem that the user feels heterogeneity severely due to a sudden change in steering.

An embodiment of the present invention is to provide a MDPS control apparatus, a system including the same and a method thereof that can improve the LKAS lane departure control performance by applying the torque value requested from the LKAS irrespective of the MDPS tuning.

In addition, an embodiment of the present invention is to provide a MDPS control device, a system including the same and a method thereof that can minimize the heterogeneity of the user by compensating the difference between the previous required torque value and the current required torque value of the LKAS.

The technical problems of the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following descriptions.

The MDPS control apparatus according to the embodiment of the present invention is a motor driven power steering tuned by a preset regional compensation factor based on a driver torque generated by a driver and a LKAS request torque received from a Lane Keeping Assistance System (LKAS). MDPS control unit for outputting torque; And compensating the MDPS torque tuned by the MDPS control unit using an additional compensation factor for each region, and using the LKAS compensation factor according to a difference between a previous LKAS request torque and a current LKAS request torque according to a change in the LKAS request torque. And a torque compensator for compensating for the MDPS torque and outputting the MDPS compensation torque.

The monitoring unit may determine whether a difference between the immediately preceding LKAS requested torque and the current LKAS requested torque occurs; It may further include.

In one embodiment, the MDPS controller may include a boost curve for tuning the driver torque and the LKAS request torque according to the region compensation factor predetermined by the region tuning map.

The torque compensator may include determining an additional compensation factor for each region based on the LKAS required torque and a tuning ratio tuned by the regional compensation factor.

In one embodiment, the torque compensator, at least one of whether the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and whether the LKAS torque validity does not satisfy the normal condition. And calculating the first MDPS compensation torque by calculating the driver torque with the compensation factor for each region without applying the LKAS request torque.

In one embodiment, the torque compensator, when the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and whether the validity of the LKAS torque all satisfy the normal condition, the driver torque And calculate the MDLK torque by calculating the LKAS required torque with the compensation factor for each region, and calculating the additional compensation factor for each region with the calculated value of the compensation factor for each region and the LKAS torque, and the driver torque and the area for each region. The second MDPS compensation torque may be calculated by adding the calculated compensation factor.

The torque compensator may be configured to subtract the difference between the previous LKAS requested torque and the current LKAS requested torque from the second MDPS compensation torque when a difference between the previous LKAS requested torque and the current LKAS requested torque occurs. Calculating a third MDPS compensation torque.

The torque compensator, after outputting the third MDPS compensation torque to an MDPS motor, a difference between the previous LKAS request torque and the current LKAS request torque in the second MDPS compensation torque, and the LKAS request torque And calculating the LKAS compensation factor using a reception period of and a control period of the MDPS controller.

The torque compensator calculates a fourth MDPS compensation torque by adding the difference value between the previous LKAS requested torque and the current LKAS requested torque and the value calculated from the LKAS compensation factor to the third MDPS compensation torque. It may include doing.

The torque compensator may include controlling the fourth MDPS compensation torque to gradually increase by gradually reflecting the LKAS compensation factor.

The MDPS system according to the embodiment of the present invention is a motor driven power steering (MDPS) tuned by a preset regional compensation factor based on driver torque generated by the driver and the LKAS demand torque received from the Lane Keeping Assistance System (LKAS). And outputs and compensates the tuned MDPS torque by using a region-specific additional compensation factor, and tunes the LKAS compensation factor according to a difference between a previous LKAS demand torque and a current LKAS demand torque according to a change in the LKAS demand torque. An MDPS control device for compensating for the MDPS torque and outputting the MDPS compensation torque; And an MDPS motor driven by the MDPS compensation torque output by being compensated by the MDPS control apparatus.

In the MDPS control method according to an embodiment of the present invention, a motor driven power steering is tuned by a preset regional compensation factor based on a driver torque generated by a driver and a LKAS request torque received from a lane keeping assistance system (LKAS). Outputting torque; Compensating for the tuned MDPS torque using a regional additional compensation factor; And compensating for the MDPS torque by using a LKAS compensation factor according to a difference between a current LKAS requested torque and a current LKAS requested torque according to the change in the LKAS required torque.

The method may further include determining whether the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and the validity of the LKAS torque when the LKAS request torque is applied. .

The compensating for the tuned MDPS torque using the regional additional compensation factor may include determining the additional compensation factor for each region based on the LKAS required torque and the tuning ratio tuned by the regional compensation factor. It may include doing.

The compensating for the tuned MDPS torque using the additional compensation factor for each region may include: whether the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and the LKAS torque. When at least one of the validity conditions does not satisfy the normal condition, the first MDPS compensation torque may be calculated by calculating the region compensation factor for the driver torque without applying the LKAS request torque.

The compensating for the tuned MDPS torque using the additional compensation factor for each region may include: whether the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and the LKAS torque. When both validity and the satisfactory condition are satisfied, the MDPS torque is calculated by calculating the driver torque and the LKAS demand torque with the compensation factor for each region, and the compensation factor and the LKAS request torque for each region are calculated based on the calculated value for each region. The second MDPS compensation torque may be calculated by adding the calculated value of the additional compensation factor, the driver torque, and the value calculated by the region-specific compensation factor.

In one embodiment, the step of compensating the MDPS torque by using the LKAS compensation factor, if a difference between the previous LKAS required torque and the current LKAS required torque occurs, the previous LKAS required torque in the second MDPS compensation torque And calculating a third MDPS compensation torque by subtracting a difference value between the current LKAS request torque and the current LKAS request torque.

In one embodiment, the step of compensating the MDPS torque using the LKAS compensation factor,

After outputting the third MDPS compensation torque to the MDPS motor, the difference value between the previous LKAS required torque and the current LKAS required torque in the second MDPS compensation torque, the reception period of the LKAS required torque, and the control period of the MDPS controller The calculation may include calculating the LKAS compensation factor.

The compensating for the MDPS torque by using the LKAS compensation factor may include: calculating a difference between the previous LKAS required torque and the current LKAS required torque and the LKAS compensation factor; The fourth MDPS compensation torque may be calculated by adding the torque, and the fourth MDPS compensation torque may be gradually increased by gradually reflecting the LKAS compensation factor.

This technique can improve LKAS lane departure control performance by applying the torque value requested from LKAS regardless of MDPS tuning.

In addition, the present technology can minimize the heterogeneity of the user by compensating for the difference between the previously requested torque value of the LKAS and the current required torque value.

In addition, various effects may be provided that are directly or indirectly identified through this document.

1 is a block diagram showing the configuration of an MDPS control apparatus according to an embodiment of the present invention.
2 is a flowchart illustrating a control method of the MDPS control apparatus according to an embodiment of the present invention.
3 illustrates a computing system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used to refer to the same components as much as possible, even if displayed on different drawings. In addition, in describing the embodiments of the present invention, when it is determined that the detailed description of the related well-known configuration or function interferes with the understanding of the embodiments of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

The present invention discloses a technique for calculating torque for controlling an MDPS motor through cooperative control of a Lane Keeping Assistance System (LKAS) and a Motor Driven Power Steering (MDPS). At this time, the LKAS recognizes the lane through the camera sensor with the camera integrated ECU and transmits the steering torque value calculated by the driver when changing the lane without the lane change lamp control to the MDPS system via CAN communication. It includes a LFA (Lane Following Assist) function that continuously transmits the steering torque value to the MDPS system for driving on the road. The MDPS system provides the driver with steering power through the motor by sensing the driver's steering intention value. The MDPS system can be implemented by tuning the steering value according to the vehicle speed for each region, and the LKAS demand torque and driver input torque received from the LKAS can be implemented. The lane departure prevention function can be implemented by overlapping. MDPS can work with LKAS, Park Assist (PA), and Remot Smart Parking Assist (RSPA) systems.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 3.

1 is a block diagram showing the configuration of an MDPS control apparatus 100 according to an embodiment of the present invention.

MDPS control apparatus 100 according to an embodiment of the present invention improves the LKAS lane departure control performance by applying the torque value requested from the LKAS, regardless of MDPS tuning, and the previous requested torque value of the LKAS and the current required torque value By compensating the difference value, the heterogeneity of the user can be minimized. The MDPS control apparatus 100 may be electrically connected to the MDPS motor 200, the LKAS (not shown), the steering wheel (not shown), and the like, and may perform various data processing and calculations for calculating the MDPS input torque.

To this end, the MDPS control apparatus 100 includes an MDPS controller 120, a torque compensator 130, and a monitoring unit 140.

.

The MDPS controller 120 tunes the input driver torque and the LKAS required torque through a boost curve 121, respectively. The boost curve 121 has a predetermined tuning value (regional compensation factor) for each country or region, and tunes the torque value according to the predetermined tuning value. Accordingly, when the MDPS torque value is determined according to the tuning value set in the boost curve 121 and the LKAS requested torque value is reflected before tuning, the MDPS torque value may be determined by the tuning value to reduce the reflectance ratio of the LKAS requested torque value. . For example, when the tuning value of the boost curve 121 is set lightly, when the LKAS request torque is applied to the MDPS controller 120, the tuned torque value becomes larger than the LKAS request torque, and the tuning value is set to be heavy. A value less than the LKAS requested torque is output.

The torque compensator 130 uses an additional region-specific additional compensation factor to compensate for the torque value tuned in the boost curve 121. The torque compensator 130 is set to increase the torque output when the torque output decreases due to heavy tuning in the boost curve 121, and adds an additional compensation factor for each region so that the torque output decreases when the torque output increases due to light tuning. Decide

The MDPS control unit 120 knows in advance the LKAS required torque value and the region-specific tuning value received through CAN communication, and presets the ratio tuned according to the region (North America / Domestic / Europe) tuning map when the LKAS requested torque is applied. You will know. This tuning ratio and the received LKAS requested torque value are transmitted to the torque compensator 130, and the torque compensator 130 determines the additional compensation factor for each region by using the tuning ratio and the received LKAS requested torque value. In this case, the torque compensator 130 may prestore a matching table storing additional compensation factors for each region based on the region tuning ratio and the LKAS required torque value, and receive the region-specific torque value from the MDPS controller 120. Then, additional tuning factors for each region can be read and applied from the matching table using the tuning ratio and the LKAS required torque. In addition, an additional compensation factor for each region may be calculated and used in real time using the tuning ratio and the received LKAS requested torque value without a separate matching table. In addition, the additional compensation factor for each region is reflected in each tuning map for each region, so that the additional compensation factor for each region is automatically applied when the region map is selected at the factory without pluralizing specifications or a separate compensation filter selection process.

For example, LKAS required torque is 5Nm and driver required torque is 3Nm, MDPS torque is 4Nm by boost curve 121 (ex.LKA required torque (reflected by local compensation factor): 2.5Nm + driver required torque (local compensation factor) Reflected): 1.5Nm), the torque compensator 130 has an MDPS torque of 6.5Nm (LKAS required torque: 5Nm (initial required torque) + driver's required torque (reflected by region compensation factor): 1.5Nm) The additional compensation factor for each region can be multiplied by 2.5Nm of the LKAS required torque with the regional compensation factor applied to the output. For example, when the tuning ratio is tuned more than 1: 1 by the North American tuning map, the output of the MDPS torque may be increased by multiplying the compensation factor by 1.2.

When the LKAS request torque is applied, the torque compensator 130 may determine whether the LKAS normal operation state, the CAN communication normal operation state, the LKAS environment state, and the validity of the LKAS torque. The torque compensator 130 determines whether CAN communication between the LKAS and the MDPS control apparatus 100 is smooth and determines whether the CAN communication is normally operating. The torque compensator 130 determines the appropriateness of the LKAS environment by determining whether driver torque is generated by the driver's wheel operation, and the like, for example, when the LKAS request torque is input at a predetermined cycle, and the like, in which the LKAS operates normally. It can be judged that

The torque compensator 130 does not apply the LKAS requested torque when at least one of the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and the validity of the LKAS torque does not satisfy the normal condition. MDPS torque can be calculated using only driver torque.

The torque compensator 130 may calculate the first MDPS compensation torque by applying a region compensation factor (region map) to the driver torque. The method of calculating the first MDPS compensation torque is shown in Equation 1 below.

At this time, the regional compensation factor is a value preset in the regional map, and the additional regional compensation factor is a value for compensating for the change of MDPS torque by the regional compensation factor, and is calculated using the regional compensation factor and the LKAS required torque. Can be.

The torque compensator 130 may determine whether the LKAS normal operation state, the CAN communication normal operation state, the LKAS environment state, and the validity of the LKAS torque satisfy the normal condition. The second MDPS compensation torque may be calculated by calculating a region-specific additional compensation factor based on the MDPS torque calculated using the driver torque and the LKAS requested torque. The second MDPS compensation torque is a value obtained by adding a value obtained by calculating a region-specific compensation torque to a driver torque, and a value calculated by calculating a region-specific compensation torque and an additional region-specific compensation torque to the LKAS request torque. At this time, the method of calculating the second MDPS compensation torque is shown in Equation 2 below.

The torque compensator 130 calculates the third MDPS compensation torque by subtracting the difference value between the previous LKAS demand torque and the current LKAS demand torque from the second MDPS compensation torque when a difference between the previous LKAS demand torque and the current LKAS demand torque occurs. can do. At this time, the calculation method of the third MDPS compensation torque is shown in Equation 3 below.

After the torque compensator 130 outputs the third MDPS compensation torque to the MDPS motor 200, the difference value between the previous LKAS request torque and the current LKAS request torque in the second MDPS compensation torque, the reception period of the LKAS request torque, and The LKAS compensation factor may be calculated using a control period of the MDPS controller 120. For example, when the MDPS controller 120 performs the control every 50 us, the control period is 50 us, and when the LKAS request torque is received every 10 ms, the reception period of the LKAS request torque is 10 ms.

The torque compensator 130 may calculate the fourth MDPS compensation torque by adding the difference value between the previous LKAS requested torque, the current LKAS required torque, and the value calculated from the LKAS compensation factor to the third MDPS compensation torque.

At this time, the calculation method of the fourth MDPS compensation torque is shown in Equation 4 below.

That is, the torque compensator 130 may minimize the heterogeneity by controlling the fourth MDPS compensation torque to be gradually increased by gradually reflecting the LKAS compensation factor. If the LKAS required torque difference value is applied immediately, the driver may feel heterogeneous. Therefore, the difference between the MDPS compensation torque and the LKAS required torque difference value is applied to the MDPS torque to minimize the heterogeneity, and then the LKAS required torque. The difference value can be applied step by step, such as 50% application, 70% application, and 100% application, and the third MDPS compensation torque is multiplied by the LKAS compensation factor for this progressive application. Therefore, in the present invention, the MDPS control apparatus 100 subtracts the LKAS required torque difference value from the MDPS compensation torque value in which the additional compensation factor for each region is reflected, and immediately outputs a value missing the LKAS required torque difference value to the MDPS torque and then outputs the LKAS. Divide the required torque difference to reflect gradually.

For example, assume that the previous LKAS required torque is 4Nm and the current LKAS required torque value is 9Nm. Current aspect LKAS required torque is updated every 10ms, MDPS control device 100 performs control every 50us, MDPS control device 100 to perform 20 times of control until the next LKAS request torque is updated do. Therefore, if the difference of 5Nm is immediately reflected in the MDPS torque, the driver may feel heterogeneity about 5Nm.

In other words, the MDPS control apparatus 100 controls only 50% of the LKAS required torque difference value (2.5 Nm when the LKAS required torque difference value is 5 Nm) during the first 1/3 of the 20 times of control (controls 1 through 7). Output is 70% (3.5Nm, 70% of 5Nm) for the next 1/3 (controls 8 to 14), and 100% (5Nm) for the last 1/3 (15-20). The output can be minimized. In this case, 50%, 70%, and 100% may be the LKAS compensation factor, and the compensation may be applied by multiplying the LKAS required torque difference value by the LKAS compensation factor. In addition, the control period and the reflectance ratio are examples and can be variously adjusted according to the specification. The MDPS control apparatus 100 of the present invention may perform actual vehicle tuning for the torque compensation and the LKAS compensation factor so that a problem with respect to the LKAS response time does not occur.

The monitoring unit 140 compares whether a difference between the previous LKAS required torque and the current LKAS required torque occurs.

When a difference between the immediately preceding LKAS requested torque and the current LKAS requested torque is generated by the monitoring unit 140, the calculating unit 132 performs the previous LKAS requested torque and the current LKAS requested torque based on the compensation torque value calculated by the torque compensating unit 130. Subtract the difference between

For example, in North American MDPS tuning, if the LKAS required torque is 5 Nm and the North American MDPS system is heavily tuned, the final MDPS torque is likely to be 5 Nm or less. As the LKAS demand torque is not reflected, lane keeping performance deteriorates. Therefore, LKAS requests a larger torque so that the final MDPS torque is 5Nm.

Accordingly, the MDPS control apparatus 100 according to the present invention compensates and outputs the MDPS torque when the LKAS requested torque is input. That is, the MDPS control apparatus 100 determines the additional compensation factor for each region by using the LKAS requested torque value and the tuning ratio for each region by the boost curve 121, and adds the additional compensation factor for each region to the MDPS torque output by the boost curve 121. Computation can output the compensated MDPS torque. For example, when the tuning ratio is tuned more than 1: 1 by the North American tuning map, the output of the MDPS torque may be increased by multiplying the compensation factor by 1.2.

In addition, when a difference between the current LKAS demand torque value and the previous LKAS demand torque occurs after the LKAS demand torque is applied, the MDPS control apparatus 100 gradually reduces the difference between the current LKAS demand torque value and the previous LKAS demand torque. It can improve the heterogeneity of. That is, the interpolated value of the difference between the current LKAS demand torque value and the previous LKAS demand torque is determined as the LKAS compensation factor, and the compensation is performed through the difference value whenever the LKAS demand torque value is changed.

For example, assume that the previous LKAS required torque is 4Nm and the current LKAS required torque value is 9Nm. Current aspect LKAS required torque is updated every 10ms, MDPS control device 100 performs control every 50us, MDPS control device 100 to perform 20 times of control until the next LKAS request torque is updated do. Therefore, if the difference of 5Nm is immediately reflected in the MDPS torque, the driver may feel heterogeneity about 5Nm.

In the present invention, the MDPS control apparatus 100 subtracts the LKAS required torque difference value to the output value reflecting the additional compensation factor for each region, and immediately outputs the value missing the LKAS required torque difference value to the MDPS torque and outputs the LKAS required torque difference value. Divide by to reflect gradually. In other words, the MDPS control apparatus 100 controls only 50% of the LKAS required torque difference value (2.5 Nm when the LKAS required torque difference value is 5 Nm) during the first 1/3 of the 20 times of control (controls 1 through 7). Output is 70% (3.5Nm, 70% of 5Nm) for the next 1/3 (controls 8 to 14), and 100% (5Nm) for the last 1/3 (15-20). The output can be minimized. At this time, the control period and the reflection ratio is an example and can be variously adjusted according to specifications. The MDPS control apparatus 100 of the present invention may perform actual vehicle tuning for the torque compensation and the LKAS compensation factor so that a problem with respect to the LKAS response time does not occur.

As such, the MDPS control apparatus 100 of the present invention may compensate for the heterogeneity and the output shock phenomenon by performing a role of damping the driver heterogeneity and the output by the LKAS required torque difference value through the MDPS torque control.

2 is a flowchart illustrating a control method of the MDPS control apparatus according to an embodiment of the present invention.

Hereinafter, it is assumed that the MDPS control apparatus 100 of FIG. 1 performs the process of FIG. 2.

Referring to FIG. 2, when the LKAS torque is applied from the LKAS to the MDPS control apparatus 100 (S101), the MDPS control apparatus 100 determines appropriateness of CAN communication between the current LKAS and the MDPS control apparatus 100 (S102). . That is, it is determined whether CAN communication between the LKAS and the MDPS control apparatus 100 is smooth.

If the CAN communication between the LKAS and the MDPS control device 100 is not smooth as a result of the determination in step S102, the MDPS control device 100 does not consider the required torque of the LKAS, but uses only the driver torque by the driver's wheel operation to map the region. The first MDPS compensation torque to which the is applied is output to the MDPS motor 200 (S106). At this time, if the MDPS compensation torque is calculated using only the driver torque, the MDPS compensation torque is calculated by calculating the compensation factor for each region to the driver torque, and if the additional compensation factor for each region is applied, the torque is too small or too large compared to the driver torque. As a result, the steering feeling may be different from that of the tuning map. Therefore, if the LKAS required torque is not considered, the additional compensation factor for each region should not be applied.

On the contrary, if the CAN communication between the LKAS and the MDPS control device 100 is smooth, that is, the CAN communication between the LKAS and the MDPS control device 100 is smooth enough to receive the LKAS request torque from the LKAS, The MDPS control apparatus 100 determines adequacy of the LKAS request torque received from the LKAS through CAN communication (S103). That is, the MDPS control apparatus 100 determines whether the received LKAS requested torque is a value within a preset torque range, and determines that the LKAS requested torque is appropriate when the received LKAS requested torque is a value within the preset torque range.

As a result of the determination in step S103, when the LKAS requested torque is not appropriate, that is, when the received LKAS requested torque does not satisfy the preset range, the MDPS control apparatus 100 uses only the driver torque without considering the LKAS requested torque. The first MDPS compensation torque to which the map for each region is applied is output to the MDPS motor 200 (S106).

On the other hand, if the determination result of step S103 determines that the LKAS requested torque is appropriate, that is, when the received LKAS requested torque is within a preset torque range, the MDPS control apparatus 100 determines the LKAS environment suitability (S104). That is, the MDPS control apparatus 100 determines whether the driver torque is generated by the driver's wheel operation and the like, and determines the appropriateness of the LKAS environment. When the driver torque is generated by the driver's wheel operation, the MDPS control apparatus 100 determines that the LKAS environment is appropriate. .

As a result of the determination in step S104, when the LKAS environment is not appropriate, the MDPS control apparatus 100 transmits the first MDPS compensation torque to which the map for each region is applied using the driver torque without considering the LKAS required torque to the MDPS motor 200. Output it (S106).

On the other hand, the determination result of the process S104, If it is determined that the LKAS environment is appropriate, the MDPS control apparatus 100 determines whether the LKAS normal operation state (S105). That is, the MDPS control apparatus 100 may determine that the LKAS is in a normal operation state, for example, when the LKAS request torque is input for each preset period.

As a result of the determination in step S105, when it is determined that the LKAS is not in the normal operating state, the MDPS control apparatus 100 does not consider the LKAS demand torque and uses the driver torque only to apply the first MDPS compensation torque to which the map for each region is applied to the MDPS motor ( 200) (S106).

On the other hand, if the determination result of the process S105, LKAS is determined to be in the normal operating state, MDPS control apparatus 100 by region to the value of calculating the region-based compensation factor to the driver torque and the region-specific compensation factor to the LKAS request torque The second MDPS compensation torque is calculated by adding the calculated values of the additional compensation factors (S107).

At this time, the MDPS control apparatus 100 calculates the resultant torque by matching the LKAS request torque input from the LKAS to the preset gains, and inputs the resultant torque and the driver torque into the boost curve 121 corresponding to the gains, respectively. do. The boost curve 121 tunes the torque value by multiplying the LKAS demand torque and the driver torque by each region compensation factor based on the region map, and multiplies the value obtained by multiplying the LKAS demand torque and the region compensation factor of the torque compensator 130 by region. Further multiply the additional compensation factor to compensate for the LKAS required torque.

For example, as shown in the third row below 10P, the LKA required torque is 5Nm and the driver required torque is 3Nm. The region-based compensation factor is applied by the booster curve 121.

            When MDPS torque is output as 4Nm (ex.LKA required torque (reflected by region compensation factor): 2.5Nm + driver required torque (reflected by region compensation factor): 1.5Nm),

Torque compensator 130 has an MDPS torque of 6.5 Nm (LKA required torque 5 Nm (initial required torque) + driver required torque (reflected by region compensation factor): 1.5 Nm)

            The additional compensation factor for each region can be multiplied by 2.5Nm LKA required torque with the regional compensation factor applied to the output.

On the other hand, the MDPS control apparatus 100 determines whether there is a difference between the immediately preceding LKAS requested torque and the current LKAS requested torque (S108), and when there is no difference between the immediately preceding LKAS requested torque and the current LKAS requested torque, that is, the LKAS request When the torque does not change, the second MDPS compensation torque is output as the final MDPS torque to the MDPS motor 200 (S113).

If there is a difference between the previous LKAS demand torque and the current LKAS demand torque, that is, a change in the LKAS demand torque occurs, the difference of the LKAS demand torque from the second MDPS compensation torque, that is, the current LKAS demand torque minus the current LKAS demand torque The third MDPS compensation torque is calculated by subtracting the value (S109).

Subsequently, the MDPS control apparatus 100 calculates a fourth MDPS compensation torque using the LKAS compensation factor in order to reflect the LKAS required torque difference value to the final torque value (S110). That is, the MDPS control apparatus 100 calculates the fourth MDPS compensation torque by adding the third product obtained by multiplying the difference value between the previous LKAS request torque, the current LKAS request torque, and the LKAS compensation factor to the third MDPS compensation torque. At this time, if the LKAS requested torque difference value is applied immediately, the driver may feel heterogeneous. Therefore, 50% application, 70% application, 100% application, etc. can be applied sequentially, and the LKAS compensation is applied to the third MDPS compensation torque. Multiply factor

Thereafter, the MDPS control apparatus 100 outputs the compensated fourth MDPS compensation torque as the final torque to the MDPS motor 200 (S111).

As described above, the present invention applies an additional compensation factor for each region to the MDPS torque when receiving the LKAS request torque, thereby preventing development difficulties in re-tuning the performance of the LKAS according to the region tuning map, and maintaining a constant LKAS regardless of the region MDPS tuning map. Performance can be secured.

In addition, the present invention can minimize driver heterogeneity due to the LKAS required torque difference and improve the performance of the LKAS.

In addition, if the present invention can be implemented through a software change, additional hardware is not required, and thus there is an effect that the weight can be reduced without additional cost.

Accordingly, the present invention enables the implementation of stable steering control performance of the LFA performance and autonomous driving vehicle to control the vehicle to travel to the center of the lane as well as to prevent the departure of a simple lane.

3 illustrates a computing system according to an embodiment of the present invention.

Referring to FIG. 3, the computing system 1000 includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. 1600, and network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include a read only memory (ROM) and a random access memory (RAM).

Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, software module, or a combination of the two executed by the processor 1100. The software module resides in a storage medium (ie, memory 1300 and / or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs. You may.

An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. In the alternative, the storage medium may be integral to the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art may make various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (20)

An MDPS controller configured to output a motor driven power steering (MDPS) tune tuned by a preset compensation factor for each region based on a driver torque generated by the driver and a LKAS request torque received from a LAN Keeping Assistance System (LKAS); And
Compensating the MDPS torque tuned by the MDPS control unit using an additional compensation factor for each region, and using the LKAS compensation factor according to the difference between the previous LKAS demand torque and the current LKAS demand torque according to the change in the LKAS demand torque. A torque compensator for compensating the torque to output the MDPS compensating torque;
MDPS control device comprising a. The method according to claim 1,
A monitoring unit determining whether a difference between the immediately preceding LKAS requested torque and the current LKAS required torque occurs;
MDPS control device further comprising. The method according to claim 2,
The MDPS control unit,
Boost curve for tuning the driver torque and the LKAS required torque according to the region compensation factor predetermined by the region tuning map
MDPS control apparatus comprising a. The method according to claim 3,
The torque compensator,
And determining the additional compensation factor for each region based on the LKAS required torque and the tuning ratio tuned by the regional compensation factor. The method according to claim 3,
The torque compensator,
When the LKAS requested torque is applied, it is determined whether the LKAS normal operating state, CAN communication normal operating state, LKAS environmental state, and whether the LKAS torque validity. The method according to claim 5,
The torque compensator,
When at least one of the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and the validity of the LKAS torque does not satisfy the normal condition, the driver does not apply the LKAS requested torque. And calculating the first MDPS compensation torque by calculating the torque with the compensation factor for each region. The method according to claim 6,
The torque compensator,
When the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and whether the validity of the LKAS torque satisfy all normal conditions, the driver torque and the LKAS requested torque are respectively compensated for the region. And calculate MDPS torque, wherein the second MDPS is obtained by adding the calculated value of the additional compensation factor for each region and the calculated value of the driver torque and the compensation factor for each region to the value calculated from the region-specific compensation factor and the LKAS requested torque. MDPS control apparatus for calculating the compensation torque. The method according to claim 7,
The torque compensator,
If a difference between the immediately preceding LKAS required torque and the current LKAS required torque occurs,
And calculating a third MDPS compensation torque by subtracting a difference value between the previous LKAS request torque and the current LKAS request torque from the second MDPS compensation torque. The method according to claim 8,
The torque compensator,
After outputting the third MDPS compensation torque to the MDPS motor, the difference value between the previous LKAS required torque and the current LKAS required torque in the second MDPS compensation torque, the reception period of the LKAS required torque, and the control period of the MDPS controller MDPS control apparatus for calculating the LKAS compensation factor using. The method according to claim 9,
The torque compensator,
And calculating a fourth MDPS compensation torque by adding the difference value between the previous LKAS requested torque, the current LKAS requested torque, and the value calculated by the LKAS compensation factor to the third MDPS compensation torque. The method according to claim 9,
The torque compensator,
And gradually reflecting the LKAS compensation factor to control the fourth MDPS compensation torque to gradually increase. Based on the driver torque generated by the driver and the LKAS request torque received from the Lane Keeping Assistance System (LKAS), the motor outputs the motor-driven power steering (MDPS) tuned by the preset regional compensation factor, and the tuned MDPS torque Compensation using an additional compensation factor, and outputs the MDPS compensation torque by compensating the tuned MDPS torque using the LKAS compensation factor according to the difference between the current LKAS demand torque and the current LKAS demand torque according to the change in the LKAS demand torque. MDPS control device; And
An MDPS motor driven by MDPS compensation torque output by compensation by the MDPS control apparatus;
MDPS system comprising a. Outputting a motor driven power steering (MDPS) tuned by a preset regional compensation factor based on the driver torque generated by the driver and the LKAS request torque received from the Lane Keeping Assistance System (LKAS);
Compensating for the tuned MDPS torque using a regional additional compensation factor; And
Compensating the MDPS torque by using an LKAS compensation factor according to a difference between a previous LKAS required torque and a current LKAS requested torque according to the change in the LKAS required torque;
MDPS control method comprising a. The method according to claim 13,
And determining whether the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and the validity of the LKAS torque when the LKAS requested torque is applied. The method according to claim 14,
Compensating the tuned MDPS torque using the additional compensation factor for each region,
And determining an additional compensation factor for each region based on the LKAS required torque and a tuning ratio tuned by the regional compensation factor. The method according to claim 15,
Compensating the tuned MDPS torque using the additional compensation factor for each region,
If at least one of the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and the validity of the LKAS torque does not satisfy the normal condition, the driver does not apply the LKAS requested torque. And calculating the first MDPS compensation torque by calculating the region-specific compensation factor based on the torque. The method according to claim 16,
Compensating the tuned MDPS torque using the additional compensation factor for each region,
When the LKAS normal operating state, the CAN communication normal operating state, the LKAS environmental state, and whether the validity of the LKAS torque satisfy all normal conditions,
Computing the driver torque and the LKAS demand torque with the compensation factor for each region to calculate MDPS torque, the value calculated by calculating the additional compensation factor for each region and the driver torque to the value calculated by the compensation factor and the LKAS request torque for each region And the calculated value of the region-specific compensation factor
And calculating a second MDPS compensation torque. The method according to claim 17,
Compensating the MDPS torque using the LKAS compensation factor,
If a difference between the immediately preceding LKAS required torque and the current LKAS required torque occurs,
And calculating a third MDPS compensation torque by subtracting a difference value between the previous LKAS request torque and the current LKAS request torque from the second MDPS compensation torque. The method according to claim 18,
Compensating the MDPS torque using the LKAS compensation factor,
After outputting the third MDPS compensation torque to the MDPS motor, the difference value between the previous LKAS required torque and the current LKAS required torque in the second MDPS compensation torque, the reception period of the LKAS required torque, and the control period of the MDPS controller MDPS control method, characterized in that for calculating the LKAS compensation factor. The method according to claim 19,
Compensating the MDPS torque using the LKAS compensation factor,
A fourth MDPS compensation torque is calculated by adding the difference value between the previous LKAS required torque and the current LKAS required torque and the LKAS compensation factor to the third MDPS compensation torque,
And gradually reflecting the LKAS compensation factor to control the fourth MDPS compensation torque to gradually increase.

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