KR20240049957A - Method for aligning steering wheel and tire wheel when steering wheel and tire wheel misaligns - Google Patents

Abstract

The alignment method when the steering wheel and wheels are not aligned according to the present invention includes the steps of S10) driving the wheel steering device with the SbW system on to align the steering reaction force device and the wheel steering device; S20) determining whether the wheel steering device is overloaded; S30) confirming alignment between the steering reaction force device and the wheel steering device; and S40) completing alignment between the steering reaction force device and the wheel steering device.

Description

{Method for aligning steering wheel and tire wheel when steering wheel and tire wheel misaligns}

The present invention relates to a method of aligning a steering wheel and wheels, and more specifically, to a method of safely aligning a steering wheel and wheels when the steering wheel and wheels are not aligned.

The steering assistance system is a system that assists steering force so that the driver can easily steer. Depending on the driving method, the hydraulic power steering (HPS) system provides steering assistance by generating hydraulic pressure by turning a pump, and the hydraulic power steering (HPS) system provides steering assistance by driving a motor. There are also electronic power steering (EPS) systems that provide power. Recently, electric steering assistance systems that provide steering assistance by driving a motor have been widely used.

In addition, the electric steering assistance system is classified into a mechanical steering assistance system and a steer-by-wire (Steer-by-wire) system depending on whether it is coupled with a mechanical connection member between the steering feedback actuator (SFA) and the road wheel actuator (RWA). by-Wire; SbW) system, etc.

The mechanical steering assistance system refers to a steering assistance system in which the steering reaction force (SFA) and the wheel steering device (RWA) are mechanically connected through a mechanical connection member, and the rotational force (torque) generated when the driver turns the steering wheel The wheels can be steered by being transmitted to the wheel steering device through a mechanical power transmission device or a mechanical connection member (eg, linkage, steering shaft, universal joint, etc.).

Meanwhile, instead of a mechanical power transmission device, there are steering assistance systems such as the SbW system and 4WIS in which the steering reaction force device (SFA) and the wheel steering device (RWA) are electrically connected through wires, cables, etc.

According to the SbW system, when the driver turns the steering wheel, the steering reaction force device (SFA) detects the steering angle of the steering wheel with a steering angle sensor, calculates the steering control value for the steering angle, and sends an electrical signal according to the steering control value to steer the wheels. It is output to the device (RWA), and the wheel steering device (RWA) steers the wheels accordingly.

However, in the case of a steering assistance system such as the SbW system in which the steering reaction force (SFA) and the wheel steering device (RWA) are electrically connected, there is no mechanical connection between the steering wheel and the tires, so when the SbW system is turned off, It may spin due to external shock.

Figures 1 and 2 show a case where the alignment between the steering wheel 1 and the wheel 2 is misaligned due to an external impact. Figure 1 shows a case where the wheel 2 is misaligned due to an external impact. 2 shows a case where the steering wheel 1 is twisted due to an external impact.

In this way, when the alignment between the steering wheel (1) and the wheel (2) is misaligned due to an external impact, when the wheel steering device (RWA) is driven and aligned with the steering reaction force device (SFA), the wheel (tire wheel) may hit the curb, etc. Alignment can be difficult when disturbed by

Additionally, when driving the steering reaction force device (SFA) to align it with the wheel steering device (RWA), there is a problem that the driver may be injured if he forcibly holds the steering wheel.

Accordingly, the present invention was conceived to solve the problems of the prior art as described above, and its purpose is to provide a method of safely aligning the steering wheel and wheels when the steering wheel and wheels are not aligned.

The alignment method when the steering wheel and wheels are not aligned according to an embodiment of the present invention is

S10) driving the wheel steering device (RWA, 20) with the SbW (Steer by Wire) system on to perform alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20); S20) determining whether the wheel steering device (RWA, 20) is overloaded; S30) confirming alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20); and S40) completing the alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20).

In the step of determining whether the wheel steering device (RWA, 20) is overloaded (S20), if it is determined that the wheel steering device (RWA, 20) is overloaded, the driving of the wheel steering device (RWA, 20) is stopped, S22) driving the steering reaction force device (SFA, 10) to perform alignment; further included.

In addition, in the step of determining the overload of the wheel steering device (RWA, 20) S20), the overload of the wheel steering device (RWA, 20) is determined by moving the rack 22 in the wheel steering device (RWA, 20). It is judged to be an overload of the steering motor (21).

In addition, before S22) driving the steering reaction force device (SFA, 10) to perform alignment, S21) warning of automatic operation of the steering wheel 11 is further included.

In addition, the step S21) of warning of automatic operation of the steering wheel 11 includes a visual warning through a display in the vehicle or an auditory warning through a warning sound.

In addition, before the step S22) of driving the steering reaction force device (SFA, 10) to perform alignment, S21-1) stow the steering wheel 11 so as not to interfere with the automatic operation of the steering wheel 11. It further includes performing one or more of operation, folding operation, telescopic operation, and tilt operation.

In addition, S23) determining whether driver torque is generated is further included.

In addition, in the step S23) of determining whether driver torque is generated, the driver torque generation is determined by torque detection by the torque sensor 14 of the steering reaction force device (SFA) 10.

In addition, in the step S23) of determining whether driver torque is generated, if it is determined that driver torque is generated, the operation of the steering reaction device (SFA, 10) is stopped, and S24) holding of the steering wheel 11 by the driver is prohibited. It further includes a step of issuing a warning.

According to the present invention, a method for safely aligning a steering wheel and wheels when the steering wheel and wheels are not aligned is provided.

Figure 1 is a diagram showing a wheel in a twisted state,
Figure 2 is a diagram showing the steering wheel in a twisted state,
Figure 3 is a diagram schematically showing the SbW system in the present invention,
Figure 4 is a flow chart showing a method of safely aligning the steering wheel and wheels in the present invention.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and will be implemented in various different forms. The present embodiments only serve to ensure that the disclosure of the present invention is complete and that common knowledge in the technical field to which the present invention pertains is not limited. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Accordingly, in some embodiments, well-known process steps, well-known device structures, and well-known techniques are not specifically described to avoid ambiguous interpretation of the present invention. Like reference numerals refer to like elements throughout the specification.

In the drawing, the thickness is enlarged to clearly express various layers and areas. Throughout the specification, similar parts are given the same reference numerals. When a part of a layer, membrane, region, plate, etc. is said to be "on" another part, this includes not only being "directly above" the other part, but also cases where there is another part in between. Conversely, when a part is said to be “right on top” of another part, it means that there is no other part in between. Additionally, when a part of a layer, membrane, region, plate, etc. is said to be “beneath” another part, this includes not only cases where it is “directly below” another part, but also cases where there is another part in between. Conversely, when a part is said to be “right below” another part, it means that there is no other part in between.

Spatially relative terms such as “below”, “beneath”, “lower”, “above”, “upper”, etc. are used as a single term as shown in the drawing. It can be used to easily describe the correlation between elements or components and other elements or components. Spatially relative terms should be understood as terms that include different directions of the element during use or operation in addition to the direction shown in the drawings. For example, if an element shown in the drawings is turned over, an element described as “below” or “beneath” another element may be placed “above” the other element. Accordingly, the illustrative term “down” may include both downward and upward directions. Elements can also be oriented in other directions, so spatially relative terms can be interpreted according to orientation.

In this specification, when a part is connected to another part, this includes not only the case where it is directly connected, but also the case where it is connected with another element in between. Additionally, when it is said that a part includes a certain component, this does not mean that other components are excluded, but that it may further include other components, unless specifically stated to the contrary.

In this specification, terms such as first, second, and third may be used to describe various components, but these components are not limited by the terms. The above terms are used for the purpose of distinguishing one component from other components. For example, without departing from the scope of the present invention, a first component may be named a second or third component, etc., and similarly, the second or third component may also be named alternately.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings that can be commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless clearly specifically defined.

Hereinafter, an alignment method when the steering wheel and wheels are misaligned according to a preferred embodiment of the present invention will be described in detail with reference to the drawings.

Figure 3 is a diagram schematically showing the SbW system in the present invention, and Figure 4 is a flow chart showing a method of safely aligning the steering wheel and wheels in the present invention.

First, the SbW (Steer by Wire) system in the present invention will be briefly described with reference to FIG. 3 as follows.

In the present invention, the SbW system 100 includes a steering feedback actuator (SFA) 10 and a wheel steering device (Road Wheel Actuator (RWA) 20).

Although not shown, the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20) may be connected with an electrical connection member such as a wire or cable.

The steering reaction device 10 may refer to a device that receives steering information intended by the driver (for example, the steering angle of the steering wheel), generates a corresponding detection signal, and outputs it to the wheel steering device 20. there is. This steering reaction device 10 may include a steering wheel 11, a steering angle sensor 12, a reaction force motor 13, a torque sensor 14, and a steering control unit 15.

The steering angle sensor 12 can detect the steering angle generated by rotation of the steering wheel 11. Specifically, when the driver holds and rotates the steering wheel 11, the steering angle sensor 12 detects the rotation angle (steering angle) of the steering wheel 11 and sends a detection signal indicating the detected steering angle to the steering control unit 15. ) can be printed.

The reaction force motor 13 can receive signal information from the steering control unit 15 and apply a reaction force to the steering wheel 11. Specifically, the reaction motor 13 may receive signal information from the steering control device 15 and drive at a rotational speed according to the corresponding rotation speed to output reaction torque.

The torque sensor 14 can detect torque generated by rotation of the steering wheel 11. Specifically, when the driver holds and rotates the steering wheel 11, the torque sensor 14 may detect the torque of the steering wheel 11 and output a detection signal to the steering control unit 15.

The steering control unit 15 is a device that controls steering. Specifically, it receives steering angle and torque signals detected from the steering angle sensor 12 and the torque sensor 14, calculates a steering control value, and sends the corresponding control signal to the wheel steering. It can be output to the device 20.

This steering control unit 15 may be implemented as an electronic control device such as an electronic control unit (ECU) or microcomputer. Additionally, the steering control unit 15 may be included in the steering reaction force device 10, as shown, or may be separated into a separate device and placed in a vehicle (not shown).

The wheel steering device (RWA, 20) is a device that steers the wheels so that the vehicle actually steers according to the driver's intention, and includes a steering motor (21), a rack (22), a rack position sensor (24), a wheel (23), and a vehicle speed sensor. may include.

The steering motor 21 can move the rack 22 in the axial direction. Specifically, the steering motor 21 is driven by receiving a control signal according to the steering control value from the steering control unit 15, and can cause the rack 22 to move linearly in the axial direction. The steering motor 21 may be a motor that rotates a pinion (not shown) engaged with the rack 22, for example.

The rack 22 can move in a straight line to the left and right by driving the steering motor 21. For example, the steering motor 21 rotates the pinion engaged with the rack 21, and the rack 22 can move straight to the left or right by the rotation of the pinion.

In addition, the linear movement of the rack 22 allows both wheels 23 to be steered left or right through the tie rod 25 connecting the rack 22 and the knuckles of the wheels 23 and the knuckle arm 26. You can.

The rack position sensor 24 can detect the position of the rack 22. Specifically, when the rack 22 performs a linear motion and moves from a position corresponding to when the steering wheel 11 is in the neutral position, the rack position sensor 24 detects the actual position of the rack 22, A detection signal according to the detected position of the rack 22 can be output to the steering control unit 15.

Here, the rack position sensor 24 may detect the actual moving speed of the rack 22. That is, the rack position sensor 24 detects the position of the rack 22, calculates the moving speed of the rack 22 by differentiating the sensed position of the rack 22 with respect to time, and determines the movement of the rack 22. A signal according to the speed can also be output to the steering control unit 15.

Meanwhile, in the present invention, the wheel steering device 20 may further include an electronic control device such as an electronic control unit (ECU) and a microcomputer. The wheel steering device 20 including an electronic control device can receive a control signal from the steering control unit 15, check the effectiveness of the control signal, and output it to the steering motor 21.

Although not shown, in the present invention, the SbW system 100 includes a steering column, a pinion gear, a vehicle speed sensor that detects the driving speed of the vehicle, a steering angle sensor that detects the steering angle of the wheel 23, and a heading angle of the vehicle. It may further include a yaw rate sensor that detects ), a clutch that can separate or combine the steering input unit and the steering output unit, etc.

In this SbW system 100, if an impact occurs on the steering wheel 11 or wheel 23 when the SbW system power is off, the steering wheel 11 or wheel 23 may be twisted and the steering reaction device 10 and Misalignment between the wheel steering devices 20 may occur.

In this case, when misalignment occurs between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20), refer to Figure 4 for a method of safely aligning the steering wheel (11) and wheels (23) in the present invention. Explain.

First, when the SbW system is turned on, the alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20) is determined, and if misalignment is determined, the wheel steering device (20) is driven to perform alignment.

Specifically, as described above, the wheel steering device 20 may include a steering angle sensor that detects the steering angle of the wheel 23, and the steering reaction device 10 may include a steering angle sensor that detects the steering angle of the steering wheel 11. It may include a sensor 12.

The steering angle of the steering wheel 11 detected by the steering angle sensor 12 and the steering angle value of the wheel 23 detected by the steering angle sensor are compared according to a preset standard (related data), and the steering angle 11 and the steering angle 11 are compared. If the wheels 23 are determined to be misaligned, the wheel steering device (RWA, 20) is driven to align them with the steering reaction force device (SFA, 10).

The driving of the wheel steering device (RWA, 20) operates the steering motor 21 as described above to move the rack 22 in a straight left and right direction, and the rack 22 and the wheels ( Both wheels 23 are steered left or right through the tie rod 25 connecting the knuckles of 23) and the knuckle arm 26.

At this time, the wheel 23 may be obstructed by a curb or the like, and in this case, alignment of the wheel steering device RWA 20 becomes difficult to perform.

In this case, the present invention determines whether the wheel steering device (RWA, 20) is overloaded. For example, determining whether an overload of the wheel steering device (RWA, 20) occurs can be determined as an overload of the steering motor (21).

In other words, if the load applied to the steering motor 21 is greater than the preset load value, it can be judged as overload.

If overload does not occur in the wheel steering device (RWA, 20), the alignment of the wheel steering device (RWA, 20) is performed as is and the alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20) is maintained. Check alignment.

The alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20) is, for example, the steering angle of the steering wheel (11) detected by the steering angle sensor (12) and the wheel (23) detected by the steering angle sensor. The steering angle value can be compared and judged according to preset standards (related data).

Determine the alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20). If it is determined that the alignment is between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20), the wheel steering device (RWA) , 20) is stopped, the alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20) is completed, and the Stow, Fold, Telescopic, and Tilt ) Perform normal operation.

Also, if it is determined that the alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20) is not yet aligned by judging the alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20), As in 4, the process returns to the step of performing alignment by driving the wheel steering device 20.

However, when it is determined that an overload has occurred in the wheel steering device (RWA, 20), the driving of the wheel steering device (RWA, 20) is stopped and the alignment of the steering reaction force device (10) is changed.

And, before driving the steering reaction force device (SFA, 10), a safety warning is issued as shown in FIG. 4. In the safety warning implementation stage, for example, as a warning for automatic operation of the steering wheel (11), a warning screen such as a warning message is displayed on a display installed inside the vehicle, such as the driver's seat instrument panel or center fascia display, to visually warn or generate a warning sound to provide a steering reaction force to the driver. It notifies the driving of the device 10 and the automatic operation of the steering wheel 11.

In addition, at this stage, possible systems (e.g., Stow in (a function to store the steering wheel inside and take it out when necessary)) and folding (Folding, It operates (folding and unfolding the steering wheel), telescopic (moving the steering wheel back and forth) operation, and tilting (Tilt down (adjusting the angle of the steering wheel) operation, etc.).

Then, the steering reaction force device (SFA, 10) is driven to align it with the wheel steering device (RWA, 20).

At this stage, the steering reaction force device (SFA, 10) is driven through a reaction motor (13) that applies a reaction force to the steering wheel (11), and the rotation of the steering wheel (11) by the reaction motor (13) The steering reaction device (SFA, 10) is driven to rotate the steering wheel (11) so that the steering wheel (11) and the wheels (23) are aligned.

Then, it is determined whether driver torque is generated. Determining whether driver torque is generated is determined by determining the torque generated by holding or rotating the steering wheel (11) by the driver. When the steering reaction device (SFA, 10) is driven to rotate the steering wheel (11), the driver is This is to prevent the automatic operation of the steering wheel (11) from being interrupted by holding the steering wheel (11). Driver torque is generated by the torque sensor 14.

Determination of whether driver torque is generated can be determined as driver torque generation when torque exceeding the reference value is generated by the torque sensor 14, and when torque generation is detected by the torque sensor 14 by holding or rotating the steering wheel 11 by the driver. The operation of the steering reaction device (SFA, 10) is stopped and a warning is issued to prevent the driver from holding the steering wheel (11).

Specifically, a visual warning is issued by displaying a text to prohibit automatic operation of the steering wheel or holding the steering wheel (11) by the driver on the vehicle's interior display, such as the driver's instrument panel or center fascia display, or a warning sound (e.g., “Get off the steering wheel”). Keep your hands away”) to warn the driver audibly and visually and wait for a certain period of time. Through this process, the driver is prevented from being injured by forcibly holding the steering wheel 11. Then, as shown in FIG. 4, the process returns to the step of performing alignment by driving the steering reaction force device (SFA, 10) again.

If driver torque does not occur in the driver torque generation determination step, check the alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20).

As described above, the alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20) is determined by the steering angle of the steering wheel 11 detected by the steering angle sensor 12 and the wheel detected by the steering angle sensor ( The steering angle value in 23) can be compared and judged according to preset standards (related data).

Determine the alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20). If it is determined that the alignment is between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20), the steering reaction device (SFA) , 10) is stopped, and the alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20) is completed.

Also, if it is determined that the alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20) is not yet aligned by judging the alignment between the steering reaction device (SFA, 10) and the wheel steering device (RWA, 20), As shown in Figure 4, the process returns to the step of performing alignment by driving the steering reaction force device (SFA, 10).

The steering wheel and wheel alignment method according to the present invention has the configuration described above, so that the steering wheel 11 and the wheels 23 can be safely aligned when the steering wheel 11 and the wheels 23 are misaligned due to external force. It becomes possible.

Above, the present invention has been described with reference to preferred embodiments, but the present invention is not limited thereto, and various modifications may be made by those skilled in the art without departing from the gist of the present invention as set forth in the claims below. There will be.

100: SbW system 11: Steering wheel
12: Steering angle sensor 13: Reaction motor
14: Torque sensor 15: Steering control unit
21: steering motor 22: rack
23: wheel 24: rack position sensor
25: tie rod 26: knuckle arm

Claims (9)

S10) driving the wheel steering device (RWA, 20) with the steer-by-wire (SbW) system on to perform alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20);
S20) determining whether the wheel steering device (RWA, 20) is overloaded;
S30) confirming alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20); and
S40) completing alignment between the steering reaction force device (SFA, 10) and the wheel steering device (RWA, 20);
Alignment method when the steering wheel and wheels are misaligned, including. According to paragraph 1,
In the step of determining whether the wheel steering device (RWA, 20) is overloaded (S20), if it is determined that the wheel steering device (RWA, 20) is overloaded, the driving of the wheel steering device (RWA, 20) is stopped, S22) performing alignment by driving the steering reaction force device (SFA, 10); Alignment method when the steering wheel and wheels are misaligned, further comprising: According to paragraph 1,
In the step S20) of determining the overload of the wheel steering device (RWA, 20), the overload of the wheel steering device (RWA, 20) is determined by using a steering motor that moves the rack 22 in the wheel steering device (RWA, 20). Alignment method when the steering wheel and wheels are misaligned, which is judged to be an overload in (21). According to paragraph 2,
S21) Warning of automatic operation of the steering wheel 11 before S22) driving the steering reaction force device (SFA, 10) to perform alignment. A method of aligning the steering wheel and wheels when misaligned. According to paragraph 4,
S21) The step of warning of automatic operation of the steering wheel 11 includes a visual warning through a display in the vehicle or an auditory warning through a warning sound. A method of aligning the steering wheel and wheels when misaligned. According to paragraph 4,
S22) Before the step of driving the steering reaction force device (SFA, 10) to perform alignment, S21-1) Stow operation on the steering wheel 11 so as not to interfere with the automatic operation of the steering wheel 11, A method of aligning the steering wheel and wheels when misaligned, further comprising performing one or more of a folding operation, a telescopic operation, and a tilt operation. According to paragraph 2,
S23) An alignment method when the steering wheel and wheels are misaligned, further comprising the step of determining whether driver torque is generated. In clause 7,
In the step S23) of determining whether driver torque is generated, the driver torque generation is determined by torque detection by the torque sensor 14 of the steering reaction force device (SFA, 10). An alignment method when the steering wheel and wheels are not aligned. In clause 7,
S23) If it is determined that driver torque is generated in the step of determining whether driver torque is generated, the operation of the steering reaction device (SFA, 10) is stopped, and S24) a warning prohibits the driver from holding the steering wheel 11. A method of aligning the steering wheel and wheels when misaligned, further comprising:

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