WO2020184853A1 - Appareil de commande de recouvrement d'un système de direction assistée électrique et procédé associé - Google Patents

Appareil de commande de recouvrement d'un système de direction assistée électrique et procédé associé Download PDF

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Publication number
WO2020184853A1
WO2020184853A1 PCT/KR2020/002005 KR2020002005W WO2020184853A1 WO 2020184853 A1 WO2020184853 A1 WO 2020184853A1 KR 2020002005 W KR2020002005 W KR 2020002005W WO 2020184853 A1 WO2020184853 A1 WO 2020184853A1
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WO
WIPO (PCT)
Prior art keywords
overlay
mode
overlay mode
output
torque
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2020/002005
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English (en)
Korean (ko)
Inventor
허현
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HL Mando Corp
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Mando Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mando Corp filed Critical Mando Corp
Publication of WO2020184853A1 publication Critical patent/WO2020184853A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
    • B62D5/046—Controlling the motor
    • B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/021—Determination of steering angle
    • B62D15/0215—Determination of steering angle by measuring on the steering column
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D3/00—Steering gears
    • B62D3/02—Steering gears mechanical
    • B62D3/12—Steering gears mechanical of rack-and-pinion type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/08—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque
    • B62D6/10—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to driver input torque characterised by means for sensing or determining torque
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/307—Torque sensors

Definitions

  • the present invention relates to an electric power steering system, and more particularly, to an apparatus and method for controlling an overlay of an electric power steering system capable of performing a smooth transition between an angle overlay and a torque overlay.
  • ADAS Advanced Driver Assistance System
  • ADAS provides convenience functions to a driving user by interlocking with an Electric Power Steering (EPS) system.
  • EPS Electric Power Steering
  • the Lane Keeping Assist (LKA) function is aimed at preventing lane departure, and operates while the driver grips the steering wheel. This does not require precise tracking compared to the autonomous driving function, and operates in the driver's steering mode, so it uses a torque overlay method that is relatively advantageous in terms of heterogeneity to the driver.
  • the angle overlay method is used.
  • an embodiment of the present invention provides an overlay control apparatus and method for an electric power steering system capable of preventing a decrease in response performance when switching between an angle overlay and a torque overlay. It has its purpose.
  • the first overlay controller for controlling the output torque of the motor in the first overlay mode according to the target angle; And a second overlay controller that controls the output torque of the motor in a second overlay mode according to the target torque, and when the other overlay mode is started before the termination after the release command of any one overlay mode, the The controller in the overlay mode being released is provided with an overlay control device of the electric power steering system that increases the output release speed.
  • the increased output release speed may be the same regardless of the start time of the other overlay mode.
  • the increased output release speed may be different according to the start time of the other overlay mode.
  • the increased output release speed may be different according to a difference between a release time of one of the overlay modes and a start time of the other overlay mode.
  • the apparatus for controlling an overlay of the electric power steering system includes: an ADAS (Advanced Driver Assistance system) controller that transmits the target angle or the target torque to the first and second overlay controllers according to a driving setting; It may further include.
  • ADAS Advanced Driver Assistance system
  • the ADAS controller may control start, release, and end of the first and second overlay modes.
  • the apparatus for controlling an overlay of the electric power steering system may further include a summer for summing output torques of the first and second overlay controllers.
  • the method includes: controlling an output torque of a motor in a first overlay mode according to a target value of any one of a target angle and a target torque; Determining whether there is an operation request for controlling the output torque of the motor in a second overlay mode according to another target value before the end of the first overlay mode; And increasing an output release speed of the first overlay mode when there is a request for the operation before termination after the release command of the first overlay mode.
  • the increased output release speed may be set to be the same regardless of the start time of the second overlay mode.
  • the increased output canceling speed may be set to be different according to the start time of the second overlay mode.
  • the increased output release speed may be set to be different according to a difference between a release time of the first overlay mode and a start time of the second overlay mode.
  • the overlay control apparatus and method of the electric power steering system increase the output release speed of the overlay mode that ends when the overlay mode is switched, thereby smoothly switching between overlay modes. It is possible to ensure stable performance during mode switching by preventing a decrease in responsiveness that may occur during switching.
  • FIG. 1 is a schematic configuration diagram of an electric power steering system according to an embodiment of the present invention
  • FIG. 2 is a block diagram of an overlay control apparatus of an electric power steering system according to an embodiment of the present invention
  • FIG. 3 is a timing diagram of an output torque when switching an overlay mode in an overlay control device of an electric power steering system according to an embodiment of the present invention
  • FIG. 4 is a timing diagram of an output torque when the angle overlay mode is released in the overlay control device of the electric power steering system according to an embodiment of the present invention.
  • FIG. 5 is a flowchart of an overlay control method of an electric power steering system according to an embodiment of the present invention.
  • FIG. 1 is a schematic configuration diagram of an electric power steering system according to an embodiment of the present invention.
  • the electric power steering system 10 includes a steering wheel 11, a steering shaft 12, a sensor 13, an EPS motor 14, and an electronic control unit 15. ), rack-pinion gear (16) and wheels (17).
  • the steering wheel 11 may be connected to the EPS motor 14 through the steering shaft 12.
  • the sensor 13 is installed on the steering shaft 12 to detect a rotation angle of the steering wheel 11 and a torque according to the rotation of the steering wheel 11, respectively.
  • the sensor 13 may be a combination of a torque sensor and an angle sensor or a single torque angle sensor.
  • the electronic control unit 15 is an ECU (electronic control unit) and may control the EPS motor 14 to be driven according to a target value by a set ADAS function. At this time, the electronic control unit 15 may estimate a target value while detecting the rotational state of the steering wheel 11 from the sensor 13.
  • the electronic control unit 15 may control the EPS motor 14 to perform a torque overlay mode or an angle overlay mode.
  • the electronic control unit 15 may control to be smoothly switched when the overlay mode is switched, as described later. That is, the electronic control unit 15 may include the overlay control device 100 of FIG. 2.
  • the EPS motor 14 drives the rack-pinion gear 16 through a universal joint. At this time, the steering of the wheel 17 may be performed through the rack bar according to the driving of the rack-pinion gear 16.
  • FIG. 2 is a block diagram of an apparatus for controlling an overlay of an electric power steering system according to an embodiment of the present invention.
  • the overlay control device 100 may control the EPS motor 14 to perform a torque overlay or an angle overlay to perform a function for assisting driving.
  • the overlay control device 100 may be implemented by the electronic control unit 15, and includes an ADAS controller 110, a first overlay controller 120, a second overlay controller 130, and a summer 140. can do.
  • the ADAS controller 110 may control the electric power steering system 10 to perform a driving assistance function. At this time, the ADAS controller 110 transmits a target value to the first and second overlay controllers 120 and 130 according to the driving setting performed by the driving assistance function.
  • the ADAS controller 110 transmits the target angle ⁇ to the first overlay controller 120 in the first overlay mode, and transfers the target torque T to the second overlay controller 130 in the second overlay mode. I can deliver.
  • the ADAS controller 110 may control start, release, and end of the first and second overlay modes. That is, the ADAS controller 110 may control the first and second overlay controllers 120 and 130 to operate in the corresponding mode.
  • the first overlay controller 120 controls the output torque of the EPS motor 14 in the first overlay mode according to the target angle ⁇ .
  • the first overlay mode may be an angle overlay mode.
  • the first overlay controller 120 may control the EPS motor 14 in an angle overlay mode during autonomous driving.
  • the second overlay controller 130 controls the output torque of the EPS motor 14 in a second overlay mode according to the target torque T.
  • the second overlay mode may be a torque overlay mode.
  • the second overlay controller 130 may control the EPS motor 14 from the lane maintenance mode to the torque overlay mode.
  • the first overlay mode and the second overlay mode may operate simultaneously.
  • the first and second overlay modes may operate simultaneously.
  • the overlay control device 100 operates in an angle overlay mode. That is, the first overlay controller 120 may drive the EPS motor 14. Here, the driver does not control the steering wheel 11.
  • the angle overlay mode and the torque overlay mode may operate simultaneously.
  • the controller in the overlay mode being released increases the output release speed.
  • the first overlay controller 120 receiving the release command may increase the output release speed so that the first overlay mode ends quickly when the second overlay mode is started.
  • FIG. 3 is a timing diagram of an output torque when switching an overlay mode in an overlay control apparatus of an electric power steering system according to an embodiment of the present invention
  • FIG. 4 is an overlay control apparatus of an electric power steering system according to an embodiment of the present invention. It is a timing diagram of the output torque when the angle overlay mode is released.
  • the ramp down is performed from the time when the release command is issued (S1) to the end time (T4) of the corresponding overlay mode in order to eliminate the feeling of operation heterogeneity -down). That is, the output torque decreases to 0 (Nm) at a constant speed.
  • the start command of the torque overlay mode is generated, the start command is ramped up from the time when the start command is generated (S2) to the time when the target value is achieved (T5) in order to eliminate the sense of heterogeneity in the operation. That is, the output torque increases to the target torque value (2Nm) at a constant speed.
  • the angle overlay output torque and the torque overlay output torque are generated together in the interval T2 to T4.
  • the motor output torque is represented by the sum of the angle overlay output torque and the torque overlay output torque.
  • the ramp-down of the angle overlay and the ramp-up of the torque overlay are performed at the same speed. That is, the slope of the angle overlay output torque and the slope of the torque overlay output torque are the same. Therefore, in the overlay mode overlapping section (T2 to T3), the sum of the angle overlay output torque and the torque overlay output torque becomes constant. This section acts as a delay in tracking output torque, resulting in performance degradation in the overlay operation.
  • the present invention increases the output release speed of the canceled overlay mode so as to follow the target torque value of the immediately switched overlay mode without causing a delay section.
  • the first overlay controller 120 that is canceling the angle overlay mode increases the output canceling speed.
  • the slope (dotted line) of the angle overlay output torque increases, so that the angle overlay mode is canceled more quickly to the time point T3.
  • the motor output torque follows the target value from the start time (S3) of the torque overlay mode.
  • the overlay mode overlapping section since the release speed of the angle overlay output torque increases, the sum of the angle overlay output torque and the torque overlay output torque increases.
  • the output torque of the angle overlay mode may be differently ramped down according to the start time of the torque overlay mode.
  • the output canceling speed of the angle overlay mode is increased at the time point T1. That is, the slope of the angle overlay output torque increases at the time point T1. Therefore, the angle overlay mode is canceled faster to the point T3' than to the original point T4.
  • the output release speed of the angle overlay mode increases at the time T2. That is, the slope of the angle overlay output torque increases at a point in time T2 between T1 and T4. Therefore, the angle overlay mode is canceled faster to the time point T3 than to the time point T4.
  • the torque overlay mode when the torque overlay mode is started after the end of the angle overlay mode, it ends at the output release speed of the preset angle overlay mode. That is, the slope of the angle overlay output torque (solid line) does not change. Therefore, the angle overlay mode ends at the original time point T4.
  • the output release speed increased by the start of the torque overlay mode may be the same regardless of the start time of the torque overlay mode. That is, as shown in FIG. 4, the increased ramp-down slope (dotted line, double-dashed line) of the angle overlay output torque may be the same as the start time of the torque overlay mode.
  • the power release speed increased by the start of the torque overlay mode may be different depending on the start time of the torque overlay mode. That is, the increased rampdown slope of the angle overlay output torque may be different according to the start time of the torque overlay mode.
  • the output release speed increased by the start of the torque overlay mode may be different according to a difference between the release time S1 of the angle overlay mode and the start time S2 of the torque overlay mode.
  • the output release speed may increase to a greater degree.
  • the output release speed may increase the largest. That is, the ramp-down slope of the torque overlay output torque may be maximum.
  • the summer 140 may add up the output torques of the first and second overlay controllers 120 and 130.
  • both the first and second overlay controllers 120 and 130 are output torques T1 and T2 until immediately before the end after a command to release any one of the overlay modes. ) Occurs.
  • the summer 140 sums the output torque T1 of the first overlay controller 120 and the output torque T2 of the second overlay controller 130 and outputs the sum to the EPS motor 14.
  • the overlay control apparatus 100 can smoothly perform switching between overlay modes, it is possible to prevent a decrease in responsiveness that may occur when switching the overlay mode, thereby ensuring stable performance during mode switching.
  • FIG. 5 is a flowchart of an overlay control method of an electric power steering system according to an embodiment of the present invention.
  • the method 200 for controlling the overlay of the electric power steering system includes performing a first overlay mode (S210, S220), starting a second overlay mode while terminating the first overlay mode (S230 to S250), and a second overlay. It includes performing the mode (S260, S270) and terminating the overlay (S280).
  • the overlay control apparatus 100 determines whether to operate in the first overlay mode (step S210), and when not operating in the overlay mode, when operating the overlay mode. Wait until.
  • the overlay control apparatus 100 performs the first overlay mode (step S220).
  • the first overlay mode controls the output torque of the EPS motor 14 according to the target angle.
  • the overlay control device 100 may perform an operation in an angle overlay mode according to autonomous driving.
  • the overlay control apparatus 100 determines whether to end the first overlay mode (step S230), and if it is determined that the first overlay mode is not to be terminated, the first overlay mode is continuously performed while waiting.
  • step S230 when it is determined that the first overlay mode is to be terminated, the overlay control apparatus 100 commands the output of the first overlay mode to be released. That is, the ramp-down of the first overlay mode output torque is started.
  • the overlay control device 100 determines whether to operate the second overlay mode (step S240). That is, before the end of the first overlay mode, it is determined whether there is an operation request for controlling the output torque of the EPS motor 14 in the second overlay mode.
  • the overlay control apparatus 100 starts the second overlay mode (step S250).
  • the second overlay mode controls the output torque of the EPS motor 14 according to the target torque.
  • the overlay control apparatus 100 may start the torque overlay mode when switching to the lane keeping mode due to a failure during autonomous driving.
  • the first overlay mode is not completely released, and the output torque is ramping down by the release command. That is, since the second overlay mode is started before the first overlay mode is completely terminated, this is a section in which the first and second overlay modes overlap.
  • the second overlay mode is a state in which ramp-up is performed at a constant speed from the time when the start command is generated to the target torque value.
  • the overlay control device 100 increases the output cancellation speed of the first overlay mode (step S260). That is, when the second overlay mode is started before the end after the release command of the first overlay mode, the output release speed of the first overlay mode is increased so that the first overlay mode is quickly terminated.
  • the overlay control apparatus 100 may set the output release speed increased by the start of the second overlay mode to be the same regardless of the start time of the second overlay mode.
  • the increased ramp-down slope of the angle overlay output torque may be the same regardless of the start time of the second overlay mode.
  • the overlay control apparatus 100 may set the output release speed increased by the start of the second overlay mode to be different according to the start time of the second overlay mode. That is, the increased rampdown slope of the angle overlay output torque may be different according to the start time of the second overlay mode.
  • the overlay control apparatus 100 may set the output release speed increased by the start of the second overlay mode to be different according to a difference between the release time of the first overlay mode and the start time of the second overlay mode. For example, in FIGS. 3 and 4, as the start time S2 of the torque overlay mode approaches the release time S1 of the angle overlay mode, the output release speed may increase significantly.
  • the output release speed may increase the largest. That is, the ramp-down slope of the torque overlay output torque may be maximum.
  • the overlay control apparatus 100 performs a second overlay mode (step S270).
  • the first overlay mode may be completely ramped down and terminated. Therefore, only the second overlay mode can be performed.
  • the second overlay mode is ramped up to the target value for a predetermined time, and then the EPS motor 14 may be controlled with the target torque.
  • step S280 when it is determined that the second overlay mode is not operated, the first overlay mode is ended and all overlay operations are ended.
  • the overlay control method 200 can smoothly perform switching between overlay modes, it is possible to ensure stable performance during mode switching by preventing a decrease in responsiveness that may occur when switching overlay modes.
  • Such methods can be implemented by the overlay control device 100 as shown in Fig. 2, and in particular, can be implemented as a software program that performs these steps, in this case, these programs are computer-readable recording. It may be stored in a medium or transmitted by a computer data signal combined with a carrier wave in a transmission medium or a communication network.
  • the computer-readable recording medium includes all kinds of recording devices in which data readable by a computer system is stored, for example, ROM, RAM, CD-ROM, DVD-ROM, DVD-RAM, magnetic tape, It may be a floppy disk, a hard disk, or an optical data storage device.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un appareil de commande de recouvrement d'un système de direction assistée électrique et un procédé associé. L'appareil de commande de recouvrement d'un système de direction assistée électrique selon un mode de réalisation de la présente invention comprend : un premier dispositif de commande de recouvrement pour commander le couple de sortie d'un moteur dans un premier mode de recouvrement selon un angle cible ; et un second dispositif de commande de recouvrement destiné à commander le couple de sortie du moteur dans un second mode de recouvrement en fonction d'un couple cible, après l'émission d'une instruction de libération d'un mode de recouvrement et avant que la fin du mode de recouvrement correspondant, lorsque l'autre mode de recouvrement est démarré, le dispositif de commande pour le mode de recouvrement libéré augmentant la vitesse à laquelle la sortie du mode de recouvrement est libérée.
PCT/KR2020/002005 2019-03-11 2020-02-13 Appareil de commande de recouvrement d'un système de direction assistée électrique et procédé associé Ceased WO2020184853A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190027592A KR102660394B1 (ko) 2019-03-11 2019-03-11 전동 파워스티어링 시스템의 오버레이 제어 장치 및 그 방법
KR10-2019-0027592 2019-03-11

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WO2020184853A1 true WO2020184853A1 (fr) 2020-09-17

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PCT/KR2020/002005 Ceased WO2020184853A1 (fr) 2019-03-11 2020-02-13 Appareil de commande de recouvrement d'un système de direction assistée électrique et procédé associé

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KR20140030595A (ko) * 2012-09-03 2014-03-12 현대모비스 주식회사 보상토크 산출 장치 및 방법
KR20160044650A (ko) * 2014-10-15 2016-04-26 현대모비스 주식회사 차량용 어시스트 토크 보상장치 및 방법
WO2016199839A1 (fr) * 2015-06-12 2016-12-15 日本精工株式会社 Dispositif de direction électrique
US20190002019A1 (en) * 2016-02-29 2019-01-03 Nsk Ltd. Electric power steering apparatus
US20190023304A1 (en) * 2017-07-24 2019-01-24 Scott L Radabaugh System and method for providing a variable limit on active dryer assistance system steering authority

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JPS58178011A (ja) * 1982-04-12 1983-10-18 ペルマ―タイト・アーベー 可逆式止め座金
JPS591500A (ja) * 1982-06-28 1984-01-06 Agency Of Ind Science & Technol ジヒドロ葉酸還元酵素遺伝子を利用したプロモ−タ検出用プラスミドベクタ−及びその製造方法
KR101668876B1 (ko) 2010-11-16 2016-10-25 현대모비스 주식회사 동력전달유닛 및 이를 적용한 전동조향장치
KR102582979B1 (ko) * 2017-02-15 2023-09-26 에이치엘만도 주식회사 조향 제어 장치 및 그 제어 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20140030595A (ko) * 2012-09-03 2014-03-12 현대모비스 주식회사 보상토크 산출 장치 및 방법
KR20160044650A (ko) * 2014-10-15 2016-04-26 현대모비스 주식회사 차량용 어시스트 토크 보상장치 및 방법
WO2016199839A1 (fr) * 2015-06-12 2016-12-15 日本精工株式会社 Dispositif de direction électrique
US20190002019A1 (en) * 2016-02-29 2019-01-03 Nsk Ltd. Electric power steering apparatus
US20190023304A1 (en) * 2017-07-24 2019-01-24 Scott L Radabaugh System and method for providing a variable limit on active dryer assistance system steering authority

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KR20200108655A (ko) 2020-09-21

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