WO2020138823A1

WO2020138823A1 - Steering control device and method for controlling same

Info

Publication number: WO2020138823A1
Application number: PCT/KR2019/017958
Authority: WO
Inventors: 최대근
Original assignee: 주식회사 만도
Priority date: 2018-12-26
Filing date: 2019-12-18
Publication date: 2020-07-02

Abstract

The present disclosure relates to a steering control device and a method for controlling same. Specifically, the present disclosure relates to a technology for readjusting the position of a steering wheel when a driver arbitrarily manipulates the steering wheel in an engine-off state of a vehicle, thereby minimizing a sense of difference in vehicle steering felt by the driver when the engine of the vehicle is started again (engine-on).

Description

Steering control device and control method therefor

The present disclosure relates to a steering control device and a control method therefor. Specifically, the present disclosure relates to a technique for minimizing heterogeneity by re-adjusting the position of the steering wheel when the user arbitrarily operates the steering wheel in a state where the vehicle is turned off.

In general, a vehicle uses a power assist steering device as a means for reducing the steering force of a steering wheel (handle) to ensure the stability of the steering state, and such a power assist steering device uses hydraulic power steering system (HPS: Hydraulic Power) Steering System) has been widely used in recent years, and recently, unlike the conventional method using hydraulics, it makes the driver's steering power easier by using the rotational power of the motor, and it is an environmentally friendly electric power steering system (EPS). It is used universally in this vehicle.

On the other hand, in order to reduce the weight of the vehicle, the steering shaft (or column) including a steering wheel, a reaction force motor, etc. and an actuator including a wheel, a rack bar, etc. are electronically connected to steer-by-wire to transmit the steering force of the driver. A system (SBW: Steer By Wire System) is being developed.

Since such an SBW system is not mechanically connected between the steering shaft and the actuator, if the driver arbitrarily rotates the steering wheel after the vehicle is turned off, the rotation angle of the steering wheel and the angle of rotation of the actuator when the start is off It may vary. In this case, there is a problem that the driver may feel heterogeneity when the driver turns on again and starts driving.

Against this background, the present disclosure is intended to provide a steering control device and a steering control method capable of minimizing a feeling of heterogeneity in steering of a vehicle felt by a user when the vehicle is started.

In addition, the present disclosure is to provide a steering control device and a steering control method that can more accurately adjust the position of the steering wheel when the vehicle is started off by matching mismatched steering information.

In addition, the present disclosure is to provide a steering control device and a steering control method capable of performing an appropriate control operation according to the starting state of the vehicle and preventing malfunction.

In order to solve the above-described problems, in one aspect, the present disclosure, when the start of the vehicle is off (off), the steering wheel (Steering wheel) and the road wheel actuator (Road wheel actuator) when the start of the vehicle is off A steering information storage unit for receiving and storing at least one start-off steering information, and a start flag generator and a start flag for generating and outputting a start flag when a predetermined trigger signal is received when the vehicle is in an off state are input. Provided is a steering control device comprising a control unit for comparing steering information of a steering wheel generated by a user with stored start-off steering information and controlling the position of the steering wheel based on the comparison result.

In another aspect, the present disclosure provides start-off steering information of at least one of a steering wheel and a road wheel actuator when the vehicle is started off when the vehicle is started off. The steering information storage step of receiving and storing, and when the vehicle is in the off state, when a predetermined trigger signal is received, a start flag generating step of generating and outputting a start flag and a start flag, and steering generated by the user when the start flag is received It provides a steering control method characterized in that it comprises a control step for comparing the steering information of the wheel and the stored start-off steering information, and controls the position of the steering wheel based on the comparison result.

As described above, according to the present disclosure, the present disclosure can provide a steering control device and a steering control method capable of minimizing a feeling of heterogeneity with respect to steering of a vehicle that a user feels when the vehicle is started.

In addition, according to the present disclosure, the present disclosure can provide a steering control device and a steering control method capable of more accurately adjusting the position of the steering wheel in a state in which the vehicle is started off by matching mismatched steering information.

In addition, according to the present disclosure, the present disclosure can provide a steering control device and a steering control method capable of performing an appropriate control operation according to the starting state of the vehicle and preventing malfunction.

1 is a view schematically showing a vehicle steering system according to the present disclosure.

2 is a block diagram showing the configuration of a steering control apparatus according to the present disclosure.

3 is a view for explaining a signal input to the steering information storage unit according to the present disclosure.

4 is a flowchart for explaining an embodiment of a steering information storage unit and a control unit according to the present disclosure.

5 is a view for explaining a signal input to the start flag generation unit according to the present disclosure.

6 is a flowchart illustrating an embodiment of a start flag generation unit and a control unit according to the present disclosure.

7 is a flowchart illustrating a steering control method according to the present disclosure.

Hereinafter, some embodiments of the present disclosure will be described in detail through exemplary drawings. In describing the components of the present disclosure, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to the other component, but another component between each component It should be understood that the element may be "connected", "coupled" or "connected".

1 is a view schematically showing a vehicle steering system 100 according to the present disclosure.

The steering system of the vehicle according to the present disclosure may be a mechanical steering system in which the force generated by the driver rotating the steering wheel is transmitted to an actuator including a wheel or the like through a mechanical power transmission device, and the wheel is steered.

Here, the mechanical steering system may include a hydraulic steering system (HPS) using hydraulic pressure, an electronic steering system (EPS) using rotational force of a motor, and the like.

On the other hand, the steering system of the vehicle according to the present disclosure may be a steer-by-wire system (SBW: hereinafter referred to as an'SBW system') without a mechanical power transmission device.

In the SBW system, the electronic control unit (ECU: Electronic Control Unit, hereinafter referred to as'ECU') receives information about torque caused by the rotation of the steering wheel, and the ECU outputs a control signal to generate wheels, rack bars, and driving motors. It means a system in which the wheel is steered by transmitting it to a road wheel actuator including a back.

Hereinafter, the vehicle steering system 100 according to the present disclosure will be mainly described in the case of an SBW system. However, the present disclosure is not limited thereto, and the contents of the present disclosure can be applied to the mechanical steering system in substantially the same way, as long as they do not contradict technical ideas.

Referring to FIG. 1, a vehicle steering system 100 according to the present disclosure includes a steering wheel 110, a steering shaft 120, a trigger detection sensor 130, a steering angle sensor 140, a reaction force motor 150, and a controller ( 160), a road wheel actuator 170 and a start signal output unit 180.

The steering wheel 110 means a portion that the driver directly holds and steers. The shape of the steering wheel 110 may be a circular shape or a D-shaped shape as a whole with the lower end portion of the steering wheel 110 in a straight shape. However, it is not limited thereto.

The steering shaft 120 may be combined with the steering wheel 110. The shape of the steering shaft 120 may be a cylinder, but is not limited thereto. In addition, the steering shaft 120 may perform a telescopic operation that increases or decreases in the axial direction according to the setting of the user or controller 160 including a driver, a passenger, and the like.

The trigger detection sensor 130 may include at least one of a steering wheel contact sensor, an image sensor such as a camera, a door lock detection sensor, a temperature sensor, or a pressure sensor. The trigger detection sensor 130 may transmit a trigger signal to the controller 160 when a predetermined trigger is detected. For example, the steering wheel contact sensor may detect contact information generated when the user holds the steering wheel 110 and transmit a corresponding steering wheel contact signal to the controller 160. The image sensor is provided in the vehicle, and acquires image data such as driver's seating or gripping of the steering wheel, and transmits the image data to the controller 160. The door lock detection sensor may transmit a door lock open signal to the controller 160 when the door lock on the driver's seat side is opened. Alternatively, when the driver's seating is detected, the temperature sensor or the pressure sensor provided in the driver's seat may transmit a seating signal to the controller 160.

The first steering information sensor 140 may detect steering information generated from the steering wheel 110 and transmit an electrical signal corresponding to the sensed value to the controller 160.

Here, the steering information may mean a steering torque generated by a steering angle, steering angle speed, steering angle, or the like.

For example, the first steering information sensor 140 is a first steering angle sensor and detects a steering angle generated by a user rotating the steering wheel 110.

For another example, the first steering information sensor 140 is a first steering torque sensor and senses steering torque generated by a user rotating the steering wheel 110.

The reaction force motor 150 may receive a control signal from the controller 160 to generate reaction force torque with respect to the rotation of the steering wheel 110 to provide a reaction force to the driver.

The controller 160 receives an electrical signal from various sensors, such as the first steering information sensor 140 and the second steering information sensor 171, when the vehicle is started and turned on. A control signal may be generated and transmitted to the actuator to drive the actuator in charge of steering.

Specifically, when the start of the vehicle is turned on, the controller 160 receives an electrical signal corresponding to the steering angle, steering angle speed, and steering torque generated according to the rotation of the steering wheel 110, and the road wheel actuator 170 A control signal is generated and output to drive.

On the other hand, when the start of the vehicle is off, the start off (off) state, the controller 160 is the steering information generated by the steering wheel 110 when the start of the vehicle is turned off and the steering generated by the road wheel actuator 170 By comparing information, a control signal may be generated and output to the steering wheel 110 to adjust the position of the steering wheel 110 according to the comparison result. The details of the above-described operation will be described later.

The controller 160 may be implemented as an ECU, a micro controller unit (MCU), or a domain control unit (DCU). However, it is not limited thereto.

The road wheel actuator 170 may refer to a device that receives a control signal generated by the controller 160 and actually drives the vehicle to steer. The road wheel actuator 170 may include a driving motor, a rack bar, a knuckle arm, a second steering information sensor 171, a wheel 172, and the like.

Here, the second steering information sensor 171 may sense the steering information generated from the road wheel actuator 170 and transmit an electrical signal corresponding to the sensed value to the controller 160.

At this time, the steering information may mean the steering torque generated by the steering angle, steering angle speed, steering angle, etc. of the wheel 172 similar to the above.

For example, the second steering information sensor 171 senses the steering angle generated by the wheel 172 as a second steering angle sensor.

The start signal output unit 180 may generate and output a start signal according to the start state of the vehicle.

Specifically, the start signal output unit 180 may generate and output a start-on signal to start the vehicle (On), or generate and output a start-off signal so that the vehicle is turned off (Off).

For example, when a user issues a start command by pressing a physical start button or an electronic start button, the start signal outputter 180 generates a start-on signal and outputs it to the controller 160.

For another example, when the vehicle is turned on, when the user issues a start-off command by pressing a start button, the start signal outputter 180 generates a start-off signal and outputs the start-off signal to the controller 160.

Here, the start-up signal and the start-off signal may be signals separately present. At this time, the start signal output unit 180 may temporarily generate a start-on signal or a start-off signal corresponding to the start state of the vehicle.

Meanwhile, a start-on signal and a start-off signal may be integrated as a start signal. In addition, the start signal may be generated by engine driving, an ignition signal of an ignition device, a vehicle speed, or a combination thereof, or may be generated by an electric signal such as an electric vehicle or a hybrid vehicle.

When the user issues a start command of the vehicle, the start signal output unit 180 may continue to output the start signal to the controller 160 until a start off command is issued. When the user issues a start off command, the start signal output unit 180 may The output of the start signal can be stopped. However, it is not limited thereto.

According to the foregoing, when the vehicle is started, the vehicle steering system 100 according to the present disclosure is steered by the wheel 172 according to the operation of the steering wheel 110 of the user, thereby enabling the vehicle to be steered as a result. It works.

In addition, when the vehicle is turned off, the vehicle steering system 100 according to the present disclosure uses the steering information when the vehicle is turned off, even if the user arbitrarily operates the steering wheel 110. By adjusting the position, when the vehicle is started again, there is an effect of minimizing the heterogeneity that the user can feel according to the steering difference between the steering wheel 110 and the wheel 172.

Meanwhile, the present disclosure may provide a steering control device 200 that performs an operation of adjusting the position of the steering wheel 110 when the vehicle is turned off.

Hereinafter, the steering control device 200 capable of performing the above-described operation will be described.

2 is a block diagram showing the configuration of the steering control apparatus 200 according to the present disclosure.

Referring to FIG. 2, the steering control apparatus 200 according to the present disclosure may include a steering information storage unit 210, an initiation flag generator 220, and a control unit 230.

The steering information storage unit 210 may receive and store at least one start-off steering information of the steering wheel 110 and the road wheel actuator 170 when the vehicle is turned off when the vehicle is started.

Here, the start-off steering information may mean steering information sensed by the first steering information sensor 140 or the second steering information sensor 1710 when the vehicle is turned off.

Specifically, the steering information storage unit 210 may receive first start-off steering information of the steering wheel 110 and/or second start-off steering information of the road wheel actuator 170.

Although not illustrated, in order for the steering information storage unit 210 to store the start-off steering information, the steering information storage unit 210 may further include a memory and other storable means.

A specific embodiment of the steering information storage unit 210 will be described later with reference to FIGS. 3 and 4.

The start flag generating unit 220 may generate and output a start flag when a trigger signal such as a steering wheel contact signal generated from the steering wheel 110 is received when the vehicle is in a start-off state.

Here, the start flag may mean that the control unit 230 to be described later performs an operation of controlling the position of the steering wheel 110.

A specific embodiment of the start flag generator 220 will be described later with reference to FIGS. 5 and 6.

Upon receiving the start flag, the control unit 230 may compare steering information of the steering wheel 110 generated by the user with stored start-off steering information, and control the position of the steering wheel 110 based on the comparison result. have.

For example, when the control unit 230 receives the start flag, the steering angle of the steering wheel 110 is compared with the steering angle included in the stored start-off steering information, and if the two steering angles do not match, the controller 230 controls the steering wheel The position of 110 is adjusted to correspond to the steering angle included in the stored start-off steering information.

According to the present disclosure, it is possible to provide an effect of minimizing the heterogeneity felt by the driver even when the vehicle is turned off and then on again.

In order for the present disclosure to exert the above-described effects, it is necessary for the steering information storage unit 210 included in the steering control apparatus 200 according to the present disclosure to check the state in which the vehicle is turned off.

Hereinafter, an embodiment of the steering information storage unit 210 will be described in detail.

3 is a view for explaining a signal input to the steering information storage unit 210 according to the present disclosure.

Referring to FIG. 3, the steering information storage unit 210 according to the present disclosure may receive a start-off signal generated by the start signal outputter 180.

When the start-off signal is received, the steering information storage unit 210 may recognize that the start of the vehicle is off. At this time, the steering information storage unit 210 may receive and store the start-off steering information of the final steering wheel 110 and/or the start-off steering information of the road wheel actuator 170 when the vehicle is turned off. .

The start-off steering information of the steering wheel 110 is information sensed by the first steering information sensor 140, and the start-off steering information of the road wheel actuator 170 is sensed by the second steering information sensor 171. It can be information.

Meanwhile, when the vehicle steering system 100 according to the present disclosure is an SBW system, the start-off steering information of the steering wheel 110 and the start-off steering information of the road wheel actuator 170 may be different from each other.

In this case, when the user arbitrarily rotates the steering wheel 110 while the vehicle is turned off, the user may still feel heterogeneity even if the control unit 230 adjusts the position of the steering wheel 110.

Therefore, the start-off steering information of each of the steering wheel 110 and the road wheel actuator 170 needs to be matched.

Hereinafter, an embodiment of an operation of matching the start-off steering information of the steering information storage unit 210 and the control unit 230 will be described.

4 is a flowchart illustrating an embodiment of the steering information storage unit 210 and the control unit 230 according to the present disclosure.

Referring to FIG. 4, in step S410, it is determined whether the vehicle is turned off. That is, in step S410, it is determined whether the vehicle is started off.

For example, when the start signal output unit 180 generates a start off signal and outputs it to the steering control device 200, the steering control device 200 determines that the vehicle is started off.

When the vehicle starts to be turned off, the first start-off steering information is received in step S421, and the second start-off steering information is received in step S422.

For example, the steering information storage unit 210 receives the first start-off steering information of the steering wheel 110 and the second start-off steering information of the road wheel actuator 170. Furthermore, the steering information storage unit 210 transmits the received first start-off steering information and second start-off steering information to the control unit 230.

Here, the first start-off steering information and the second start-off steering information are for indicating start-off steering information of the steering wheel 110 and start-off steering information of the road wheel actuator 170, respectively. It is not limited by the order or the like.

In step S430, it is determined whether the received first start-off steering information and the second start-off steering information match.

For example, the control unit 230 determines whether the two start-off steering information match by comparing the first start-off steering information and the second start-off steering information.

If the two start-off steering information matches, in step S440, the matched start-off steering information is stored.

For example, when the control unit 230 determines that the two start-off steering information matches, at least one of the first start-off steering information and the second start-off steering information is transmitted to the steering information storage unit 210, and the steering information The storage unit 210 stores the received start-off steering information.

If the two start-off steering information do not match, in step S450, the position of any one of the steering wheel 110 and the road wheel actuator 170 so that the first start-off steering information and the second start-off steering information are matched and stored. To control.

For example, if the first start-off steering information and the second start-off steering information do not match, the control unit 230 may select one of the first start-off steering information and the second start-off steering information from the start-off steering information. The position of the steering information steering wheel 110 or the position of the road wheel actuator 170 is adjusted to match the other start-off steering information. Then, the control unit 230 transmits the matched start-off steering information to the steering information storage unit 210, and the steering information storage unit 210 stores the received start-off steering information.

Different from the above, the present disclosure may provide an effect of further minimizing errors when adjusting the position of the steering wheel 110 in a state in which the vehicle is turned off by matching two mismatched steering information.

On the other hand, when the vehicle steering system 100 according to the present disclosure is an SBW system, the position of the steering wheel 110 in a state in which the vehicle is turned off so that the user feels a minimal sense of heterogeneity with respect to steering when the vehicle starts the vehicle Can be adjusted.

In this case, it is necessary to adjust the position of the steering wheel 110 when the vehicle steering system 100 satisfies a specific condition in order to efficiently use the energy stored in the vehicle.

Hereinafter, an embodiment of an operation of adjusting the position of the steering wheel 110 under specific conditions of the start flag generator 220 and the controller 230 will be described.

5 is a view for explaining a signal input to the start flag generator 220 according to the present disclosure.

Referring to FIG. 5, the start flag generator 220 according to the present disclosure may generate and output a start flag according to the start signal generated by the start signal outputter 180 or stop generating the start flag. The start flag generation unit 220 may be implemented as or gate circuit, regulator, micro controller, or the like. However, it is not limited thereto.

For example, when the start flag generator 220 receives a start-off signal generated by the start signal output unit 180, the start flag generator 220 receives a trigger signal output by the trigger detection sensor 130, and trigger signal When is received, the start flag may be generated. For example, when the trigger detection sensor 130 is a steering wheel contact sensor, a reception operation of a steering wheel contact signal output by the steering wheel contact sensor is performed, and when a steering wheel contact signal is received, an initiation flag is generated.

For another example, when the start flag generator 220 receives a start-on signal generated by the start signal output unit 180, the start flag is irrespective of whether a trigger signal output by the trigger detection sensor 130 is received or not. Creation can be stopped.

This is because the position of the steering wheel 110 does not need to be adjusted unnecessarily because the vehicle steering system 100 or the steering control apparatus 200 must normally perform the steering of the vehicle since the vehicle is started.

In this case, the steering control apparatus 200 needs to drive the road wheel actuator 170 according to the steering information of the steering wheel 110 so that the vehicle steers normally.

6 is a flowchart illustrating an embodiment of the initiation flag generator 220 and the controller 230 according to the present disclosure.

Referring to FIG. 6, in step S610, it is determined whether the received start signal is a start-on signal.

For example, the start flag generation unit 220 checks whether a start-on signal is input so that the start of the vehicle is turned on.

When the start-on signal is received, the generation of the start flag is stopped in step S620.

For example, when the start-on signal is input, the start flag generator 220 stops generating the start flag.

When generation of the start flag is stopped, in step S630, the road wheel actuator 170 is controlled to steer the vehicle according to the driving of the road wheel actuator 170.

For example, if the start flag is not input, the control unit 230 controls the road wheel actuator 170 to be driven by the road wheel actuator 170 according to the steering information.

On the other hand, if the start-on signal is not received (start-off signal is received), in step S640, it is determined whether a trigger signal such as a steering wheel contact signal is received.

For example, the start flag generator 220 checks whether a start-off signal is input so that the vehicle is turned off, and when the start-off signal is input, performs a reception operation of a trigger signal.

Specifically, when the start flag generator 220 receives the start-off signal generated by the start signal output unit 180, it may determine whether a trigger signal that can be output by the trigger detection sensor 130 is received. . For example, the start flag generator 220 determines whether a steering wheel contact signal that can be output by the steering wheel contact sensor is received.

When the trigger signal is received, in step S650, a start flag is generated and output to the control unit 230.

For example, when a steering wheel contact signal is received, the start flag generator 220 generates a start flag and outputs it to the controller 230.

In step S660, if the steering information of the steering wheel 110 and the stored start-off steering information do not match, the position of the steering wheel 110 is controlled.

For example, if the steering information and the start-off steering information do not match, the control unit 230 adjusts the position of the steering wheel 110 so that the position of the steering wheel 110 corresponds to a reference position included in the start-off steering information. do.

Here, the reference position may mean a position corresponding to a steering angle or the like included in the start-off steering information.

The present disclosure controls the vehicle to steer normally when the vehicle is started and controls the steering wheel 110 to adjust the position of the vehicle when the vehicle is off, thereby performing appropriate control operations according to the vehicle's starting state and causing malfunctions. It can provide a preventable effect.

Hereinafter, a steering control method capable of carrying out the present disclosure will be described.

Referring to FIG. 7, the steering control method according to the present disclosure may include a steering information storage step (S710 ), a start flag generation step (S720 ), and a control step (S730 ).

In the steering information storage step (S710 ), when the vehicle is turned off, the start-off steering information of at least one of a steering wheel and a road wheel actuator when the vehicle is turned off is received and stored. You can.

Here, in the steering information storage step (S710 ), the first start-off steering information of the steering wheel and the second start-off steering information of the road wheel actuator may be received.

In the start flag generation step (S720 ), when a start signal of the vehicle is turned off, when a trigger signal such as a steering wheel contact signal generated from the steering wheel is received, a start flag may be generated and output.

Specifically, the start flag generation step (S720) may determine whether a start-off signal is input to turn off the vehicle, and when the start-off signal is input, may perform a trigger signal reception operation.

On the other hand, in the start flag generation step (S720), it is checked whether a start-on signal is input so that the start of the vehicle is turned on, and when the start-on signal is input, generation of the start flag may be stopped.

In the control step (S730 ), when the start flag is input, the steering wheel generated by the user may be compared with the stored start-off steering information, and the steering wheel position may be controlled based on the comparison result.

Here, when the first start-off steering information and the second start-off steering information of the road wheel actuator are received in the steering information storage step (S710), the control step (S730) is the first start-off steering information and the second start-off steering Compare the information, and if the first start-off steering information and the second start-off steering information do not match, either of the steering wheel and the road wheel actuator is configured so that the first start-off steering information and the second start-off steering information are matched and stored. You can control the position.

On the other hand, if the start-up flag is received in the start flag generation step S720 and generation of the start flag is stopped, in step S730, if the start flag is not input, the road wheel actuator is driven according to the steering information. You can control the road wheel actuator.

On the other hand, in the control step S730, if the steering information and the start-off steering information do not match, the steering wheel position may be adjusted so that the steering wheel position corresponds to a reference position included in the start-off steering information.

The above description and the accompanying drawings are merely illustrative of the technical spirit of the present disclosure, and those skilled in the art to which the present disclosure pertains combine combinations of configurations within a scope not departing from the essential characteristics of the present disclosure. , Various modifications and variations such as separation, substitution and change will be possible. Therefore, the embodiments disclosed in the present disclosure are not intended to limit the technical spirit of the present disclosure, but to explain the scope, and the scope of the technical spirit of the present disclosure is not limited by the embodiments. That is, within the scope of solving the problems of the present disclosure, all of the components may be selectively combined and operated. The scope of protection of the present disclosure should be interpreted by the claims below, and all technical spirits within the scope equivalent thereto should be interpreted as being included in the scope of the present disclosure.

CROSS-REFERENCE TO RELATED APPLICATIONCROSS-REFERENCE TO RELATED APPLICATION

This patent application claims priority to U.S. Patent Law No. 10-2018-0169246 filed in Korea on December 26, 2018, pursuant to U.S. Patent Act 119(a) (35 USC § 119(a)). All contents are incorporated into this patent application by reference. In addition, if this patent application claims priority for the same reasons as above for countries other than the United States, all of the contents are incorporated into this patent application as a reference.

Claims

Steering information for receiving and storing at least one starting off steering information of a steering wheel and a road wheel actuator when the starting of the vehicle is off when the vehicle is started off Storage unit;

A start flag generating unit that generates and outputs a start flag when a predetermined trigger signal is received when the vehicle starts in an off state; And

And a control unit that compares the steering information of the steering wheel generated by the user with the stored start-off steering information when the start flag is input, and controls the position of the steering wheel based on the comparison result. Steering control device.
According to claim 1,

The steering information storage unit,

When the vehicle starts to be turned off, the first start-off steering information that is steering information for the steering wheel and the second start-off steering information that is steering information for the road wheel actuator are received,

The control unit,

The first start-off steering information and the second start-off steering information are compared, and if the first start-off steering information and the second start-off steering information do not match, the first start-off steering information and the second Steering control device characterized in that to control the position of any one of the steering wheel and the road wheel actuator so that the start-off steering information is matched.
According to claim 1,

The trigger signal,

Steering wheel contact signal generated by the steering wheel, driver image data obtained through a camera provided in the vehicle, door lock signal on the driver's seat side of the vehicle or seating from a temperature sensor or pressure sensor provided in the driver's seat Steering control device comprising at least one of the signals.
According to claim 1,

The start flag generation unit,

Steering control device characterized in that it is checked whether or not the start-on signal is input so that the start-up of the vehicle is on, and when the start-on signal is input, generation of the start flag is stopped.
According to claim 4,

The control unit,

If the start flag is not input, the steering control device, characterized in that for controlling the road wheel actuator to drive the road wheel actuator according to the steering information.
According to claim 1,

The start flag generation unit,

Steering control device characterized in that it is checked whether or not a start-off signal is input to cause the vehicle to be turned off, and when the start-off signal is input, the trigger signal is received.
According to claim 1,

The control unit,

If the steering information and the start-off steering information does not match, the steering control device, characterized in that for adjusting the position of the steering wheel so that the position of the steering wheel corresponds to the reference position included in the start-off steering information.
Steering information for receiving and storing at least one starting off steering information of a steering wheel and a road wheel actuator when the starting of the vehicle is off when the vehicle is started off Storage step;

A start flag generating step of generating and outputting a start flag when a predetermined trigger signal is received when the vehicle starts to be off; And

And receiving the start flag, comparing the steering information of the steering wheel generated by the user with the stored start-off steering information, and controlling the position of the steering wheel based on the comparison result. Steering control method.
The method of claim 8,

The steering information storage step,

When the vehicle starts to be turned off, receives first start-off steering information that is steering information for the steering wheel and second start-off steering information that is steering information for a road wheel actuator,

The control step,

The first start-off steering information and the second start-off steering information are compared, and if the first start-off steering information and the second start-off steering information do not match, the first start-off steering information and the second Steering control method characterized in that to control the position of any one of the steering wheel and the road wheel actuator to match the start-off steering information.
The method of claim 8,

The trigger signal,

Steering wheel contact signal generated by the steering wheel, driver image data obtained through a camera provided in the vehicle, door lock signal on the driver's seat side of the vehicle or seating from a temperature sensor or pressure sensor provided in the driver's seat Steering control method comprising at least one of the signals.
The method of claim 8,

The starting flag generation step,

Steering control method, characterized in that to check whether the start-up signal to enable the start of the vehicle is on (on), and when the start-up signal is input, the generation of the start flag is stopped.
The method of claim 11,

The control step,

If the start flag is not input, the steering control method, characterized in that for controlling the road wheel actuator to drive the road wheel actuator according to the steering information.
The method of claim 8,

The starting flag generation step,

Steering control method characterized in that to check whether the start-off signal to start the vehicle off, and when the start-off signal is input, to perform the reception operation of the trigger signal.
The method of claim 8,

The control step,

If the steering information and the start-off steering information does not match, steering control method characterized in that the position of the steering wheel is adjusted to correspond to the reference position included in the start-off steering information.