WO2020184894A1 - Procédé de déverrouillage, dispositif de déverrouillage et appareil d'aide à la direction le comprenant - Google Patents

Procédé de déverrouillage, dispositif de déverrouillage et appareil d'aide à la direction le comprenant Download PDF

Info

Publication number
WO2020184894A1
WO2020184894A1 PCT/KR2020/003099 KR2020003099W WO2020184894A1 WO 2020184894 A1 WO2020184894 A1 WO 2020184894A1 KR 2020003099 W KR2020003099 W KR 2020003099W WO 2020184894 A1 WO2020184894 A1 WO 2020184894A1
Authority
WO
WIPO (PCT)
Prior art keywords
steering
signal
torque
steering torque
vehicle speed
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/KR2020/003099
Other languages
English (en)
Korean (ko)
Inventor
김태식
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
Original Assignee
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 WO2020184894A1 publication Critical patent/WO2020184894A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

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
    • B62D5/0481—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 monitoring the steering system, e.g. failures
    • 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
    • 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
    • B62D5/0409—Electric motor acting on the steering column
    • 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
    • B62D5/0481—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 monitoring the steering system, e.g. failures
    • B62D5/0484—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 monitoring the steering system, e.g. failures for reaction to failures, e.g. limp home
    • 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
    • B62D6/02—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
    • 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 disclosure relates to a unlocking method, an unlocking device, and a steering assist device including the same.
  • the vehicle steering assist device refers to a device that provides a steering assist force when a driver turns a vehicle by manipulating a steering wheel.
  • Such steering assistance devices include hydraulic steering assistance devices using hydraulic pressure or Hydraulic Power Steering (HPS), and electric assistance devices using a steering motor or Electronic Power Steering (EPS).
  • HPS Hydraulic Power Steering
  • EPS Electronic Power Steering
  • a sensor detects the steering torque and steering angle generated from the steering wheel
  • the controller controls the steering motor by calculating the steering torque and control values corresponding to the steering angle, and steering assistance by driving the steering motor. Provides power.
  • a controller included in the electric power steering has a technology to compensate even if steering is impossible due to a temporary miscontrol.
  • the present disclosure is to provide a lock release method, a lock release device, and a steering assist device including the same that can accurately determine whether steering is disabled due to a steering lock.
  • the present disclosure is to provide a lock release method for preventing a safety accident by releasing a steering lock in a situation where steering is impossible, a lock release device, and a steering assist device including the same.
  • the present disclosure includes a steering angle sensor for sensing a steering angle of a steering wheel, a steering torque sensor for sensing steering torque of a steering wheel, a shaft coupled to the steering wheel, and a coupling member.
  • Steering lock of the vehicle based on whether a steering column including a reduction gear coupled to the shaft as an intermediary, a heat generating member disposed on the outer circumferential surface of the shaft and applying heat to the coupling member, and the size of the steering torque and whether the steering angle is detected. It provides a steering assist device including a steering lock release device that determines whether or not steering is disabled due to) and, if it is determined that the steering is disabled, outputs a lock release signal to the heating member.
  • the present disclosure is based on a receiving unit for receiving a steering torque signal and a steering angle signal, and a steering torque level indicated by the steering torque signal and whether or not the steering angle signal is received, and steering is disabled due to a steering lock.
  • Steering including an output unit that outputs a lock release signal to a heat generating member that applies heat to a coupling member disposed between the outer circumferential surface of the shaft and the inner circumferential surface of the reducer when the steering lock determination unit and the steering lock determination unit determine whether the steering is incapable of steering.
  • the present disclosure relates to a steering torque signal receiving step of receiving a steering torque signal, a steering angle signal receiving step of receiving a steering angle signal, and the magnitude of the steering torque indicated by the steering torque signal and whether or not the steering angle signal is received.
  • the steering lock determination step determines whether steering is disabled due to steering lock, and if it is determined that steering is disabled, the lock is unlocked with a heat generating member that applies heat to the coupling member disposed between the outer circumferential surface of the shaft and the inner circumferential surface of the reducer. It provides a steering lock release method comprising an output step of outputting a signal.
  • the present disclosure may provide a lock release method, a lock release device, and a steering assist device including the same, which can accurately determine whether steering is impossible due to a steering lock.
  • the present disclosure may provide a lock release method for preventing a safety accident by releasing a steering lock in a situation where steering is impossible, a lock release device, and a steering assist device including the same.
  • FIG. 1 is a diagram schematically showing a steering assist device according to the present disclosure.
  • FIG. 2 is a diagram showing an embodiment of a steering lock.
  • FIG 3 is a view showing a steering lock release device and a part of a steering column and a heat generating member according to the present disclosure.
  • FIG. 4 is a view showing a steering lock release device according to the present disclosure.
  • FIG. 5 is a diagram for explaining an embodiment in which a steering lock in a steering column is released according to the present disclosure.
  • FIG. 6 is a flowchart illustrating a steering lock release method according to the present disclosure.
  • FIGS. 7A and 7B are flowcharts illustrating a first embodiment of determining a steering lock according to the present disclosure.
  • FIG. 8 is a flowchart illustrating a second embodiment of determining a steering lock according to the present disclosure.
  • FIG. 9 is a flowchart illustrating a third embodiment of determining a steering lock according to the present disclosure.
  • FIG. 10 is a flowchart illustrating a fourth embodiment of determining a steering lock according to the present disclosure.
  • FIG. 1 is a diagram schematically showing a steering assist device 100 according to the present disclosure.
  • the steering assist device 100 includes a steering wheel 110, a shaft 120, a steering angle sensor 130, a torque sensor 140, a speed sensor 150, and ,
  • the controller 160 and the steering motor 170 may be included.
  • the steering wheel 110 may be rotated by a driver's manipulation.
  • the steering wheel 110 may be coupled to the shaft 120.
  • the shape of the steering wheel 110 may be circular as shown in FIG. 1, but is not limited thereto.
  • the shaft 120 may be coupled to the steering wheel 110 and rotated together with the steering wheel 110.
  • the shape of the shaft 120 may be cylindrical.
  • the shaft 120 may include a plurality of reducers, and any one of the plurality of reducers may be coupled to the outer circumferential surface of the shaft 120.
  • the steering assist device 100 may include a steering column 200 including a shaft 120 and a reducer.
  • the steering angle sensor 130 may detect a steering angle generated by rotation of the steering wheel 110. In addition, the steering angle sensor 130 may output a steering angle signal indicating information on the steering angle.
  • the steering angle may not be detected if the steering wheel 110 does not rotate, and the resulting steering angle signal may not be output unless the steering wheel 110 rotates.
  • the torque sensor 140 may detect steering torque generated by rotation of the steering wheel 110. In addition, when the steering torque is detected, the torque sensor 140 may output a steering torque signal indicating information on the steering torque.
  • the steering torque may mean a torque applied to a torsion bar existing between the input shaft and the output shaft of the shaft 120. Therefore, the steering torque can be detected even if the steering wheel 110 is not rotated.
  • the speed sensor 150 may sense the speed of the vehicle and output a vehicle speed signal indicating information on the vehicle speed.
  • the controller 160 may receive a steering angle signal output by the steering angle sensor 130, a steering torque signal output by the torque sensor 140, and a vehicle speed signal output by the speed sensor 150.
  • the controller 160 may receive a steering angle signal and a steering torque signal, calculate a rack stroke for providing a steering assist force, and output a command current corresponding to the rack stroke to the steering motor 170.
  • the controller 160 includes hardware and software such as an electronic control unit (ECU) including a microcontroller 160 unit (Micro Controller Unit; MCU), an inverter, and a printed circuit board (PCB).
  • ECU electronice control unit
  • MCU Micro Controller Unit
  • PCB printed circuit board
  • the steering motor 170 may receive a command current from the controller 160 and drive it at a torque and rotation speed according to the command current. Although not shown, the steering motor 170 may be coupled to a reducer disposed on the shaft 120. The reducer and the shaft 120 disposed on the shaft 120 may rotate by the rotation of the steering motor 170.
  • the shaft 120 is rotated due to the rotation of the steering motor 170, and the wheel moves left or right by the operation of the rack and pinion, so that the vehicle may turn.
  • a situation in which the driver cannot manipulate the steering wheel 110 may occur due to various causes such as deterioration of parts included in the vehicle and introduction of foreign substances.
  • a physical error such as damage to a component, it may be difficult to resolve the physical error by electronic control of the controller 160.
  • a steering lock may occur in which the steering wheel 110 cannot be rotated and thus the vehicle cannot be steered.
  • a steering lock will be described as an example.
  • FIG. 2 is a diagram showing an embodiment of a steering lock.
  • rotation of the steering wheel 110 itself is sometimes impossible due to the case that the magnet of the rotor (not shown) included in the steering motor is broken or removed, or the winding of the stator is cut off or removed. , In some cases, rotation of the steering wheel 110 is impossible due to damage to parts of the reducer coupled to the steering motor.
  • the steering assist device 100 includes a shaft 210 coupled to the steering wheel 110, a first reduction gear 220 present on the outer peripheral surface of the shaft 210, and A steering column 200 including a second reduction gear 230 toothed with the first reduction gear 220 may be provided.
  • the first reduction gear 220 has a hole formed in the center, and is coupled to the shaft 210 through the hole, and the inner circumferential surface of the first reduction gear 220 and the outer circumferential surface of the shaft 210 are in close contact and fixed. I can. At this time, when the shaft 210 rotates, the first reduction gear 220 also rotates.
  • the first reduction gear 220 may be, for example, a worm wheel gear.
  • the second reduction gear 230 may be, for example, a worm gear.
  • the second reduction gear 230 may be coupled to the steering motor at one end. Accordingly, the steering motor, the first reduction gear 220, the second reduction gear 230, and the shaft 210 can rotate at the same time.
  • the reducer may include the first reduction gear 220 and the second reduction gear 230 described above.
  • the gear teeth of the first reduction gear 220 or the second reduction gear 230 are broken, or a foreign substance is inserted into the toothed portion of the first reduction gear 220 and the second reduction gear 230, the The 1 reduction gear 220 and the second reduction gear 230 are constrained and cannot rotate.
  • the first reduction gear 220 and the second reduction gear 230 are constrained, even if the driver manipulates the steering wheel 110, the steering motor, the first reduction gear 220, the second reduction gear 230 and the shaft ( 210) becomes unable to rotate, and a steering lock occurs.
  • FIG 3 is a view showing a portion of the steering lock release device 400 and the steering column 200 and the heating member 300 according to the present disclosure.
  • the steering column 200 is a coupling member 240, which is an intermediate existing between the inner circumferential surface of the first reduction gear 220 and the outer circumferential surface of the shaft 210, unlike FIG. 2. ) May be further included. Accordingly, the coupling member 240 and the shaft may be coupled through a hole and a first reduction gear having a hole formed in the center.
  • the coupling member 240 may be formed to correspond to the shape of the inner peripheral surface of the first reduction gear 220 or the shape of the outer peripheral surface of the shaft.
  • the coupling member 240 may have a cylindrical shape in which the diameter of both ends is larger than the diameter of the central portion.
  • the side surface may be a cylindrical shape having a uniform diameter, and as long as the first reducer and the shaft 120 can be constrained to rotate together, the shape is not limited to any shape.
  • the coupling member 240 may be disposed on one side of the outer circumferential surface of the shaft to constrain the shaft 120 to rotate together with the first reduction gear 220.
  • the shaft 120 may rotate independently of the first reducer.
  • the coupling member 240 is solid so that the first reduction gear 220 and the shaft 210 rotate together in normal times, and may be melted when receiving high heat equal to or higher than a predetermined melting point.
  • the coupling member 240 may be plastic molding. In this case, molding may mean filling an empty space with a functional resin without voids after inserting an electronic component or product into a certain space (or case).
  • the heating member 300 may be a material that receives an electrical signal from the outside and generates heat by the electrical signal. Specifically, the heating member 300 is electrically connected to the steering lock release device 400 to receive a predetermined current from the steering lock release device 400 and apply high heat generated by the current to the coupling member 240 to be coupled. The member 240 may be melted.
  • the heating member 300 may be positioned on the outer circumferential surface of the shaft 210 to sufficiently apply heat to the coupling member 240 and disposed close to the position of the coupling member 240.
  • the meaning that the heating member 300 is disposed on the outer circumferential surface of the shaft 210 means that it may be disposed in close contact with the outer circumferential surface of the shaft 210, and may be spaced apart from the outer circumferential surface of the shaft 210 Can mean that.
  • a preferred location of the heating member 300 is disposed to be spaced apart from the outer peripheral surface of the shaft 210 while being in contact with the coupling member 240. However, it is not limited thereto.
  • the heating member 300 may be a material having excellent conductivity so that an electrical signal sufficiently flows, and may be a material having a relatively large internal resistance.
  • the heating member 300 may be a coil having a constant thickness.
  • the present invention is not limited thereto, and all conductors having excellent conductivity may correspond to the heating member 300.
  • the steering assist device 100 may further include a support member 310 for surrounding the heating member 300 and supporting and protecting the heating member 300.
  • the support member 310 may be formed larger than the size of the heating member 300, and may be in a donut shape including an inner circumferential surface and an outer circumferential surface. However, it is not limited thereto.
  • the support member 310 may be made of a material higher than the melting point of the coupling member 240 to maintain its shape while the coupling member 240 is melted.
  • the steering lock release device 400 may determine whether steering of the vehicle is disabled due to a steering lock, and when it is determined that steering is disabled, may output a lock release signal to the heating member 300.
  • the unlocking signal may mean a current applied to the heating member 300 so that the heating member 300 applies heat above the melting point of a material forming the coupling member 240.
  • the unlocking signal may be expressed as voltage or power.
  • the steering lock release device 400 applies a lock release signal to the heating member 300 and the heating member 300 applies heat above the melting point of the coupling member 240, as will be described later with reference to FIG. ,
  • the coupling member 240 is melted, and the shaft 210 may be rotated independently from the first reduction gear 220 due to the driver's manipulation of the steering wheel 110. That is, the steering lock can be released.
  • FIG. 4 is a view showing a steering lock release device 400 according to the present disclosure.
  • the steering lock release device 400 may include a receiving unit 410, a steering lock determining unit 420, an output unit 430, and the like.
  • the receiver 410 may receive a steering torque signal and a steering angle signal.
  • the receiving unit 410 may receive both the steering torque signal and the steering angle signal or only the steering torque signal.
  • the receiving unit 410 receives both a steering torque signal and a steering angle signal.
  • the receiving unit 410 receives only the steering torque signal.
  • the receiving unit 410 may further receive a vehicle speed signal for the vehicle speed of the vehicle.
  • the steering lock determination unit 420 may determine whether steering is impossible due to a steering lock, based on the magnitude of the steering torque indicated by the steering torque signal and whether the steering angle signal is received.
  • the inability to steer described in the present disclosure may mean a case in which rotation of the steering wheel 110 is impossible due to a steering lock caused by a physical defect.
  • the possible steering described in the present disclosure may include not only a case where the steering wheel 110 is rotated, but also a case where the steering wheel 110 is temporarily unable to rotate due to a cause other than a steering lock generated by a physical defect. have.
  • the steering lock determination unit 420 may determine that steering is possible.
  • the steering lock determination unit 420 determines whether the operation direction of the steering wheel 110 has changed based on the change in the steering torque. , When the operation direction is changed, it may be determined whether the steering is impossible based on the magnitude of the steering torque in the changed operation direction and whether the steering angle signal is received. A specific method will be described later with reference to FIGS. 9 and 10.
  • the steering lock determination unit 420 may determine whether or not to steer due to the steering lock based on the vehicle speed. A more detailed description will be described later with reference to FIGS. 8 and 10.
  • the output unit 430 When it is determined that steering is impossible due to the steering lock, the output unit 430 outputs a lock release signal to the heating member 300 that applies heat to the coupling member 240 disposed between the outer circumferential surface of the shaft 210 and the inner circumferential surface of the reducer. can do. That is, when it is determined that steering is impossible by the steering lock determination unit 420, the output unit 430 continuously applies a current corresponding to the lock release signal to the heating member 300.
  • the steering lock release device 400 includes an electronic control unit (ECU) including a microcontroller unit (MCU), an inverter, a printed circuit board (PCB), etc. It can be implemented in hardware and software.
  • ECU electronice control unit
  • MCU microcontroller unit
  • PCB printed circuit board
  • steering lock release device 400 may be integrated with the controller 160 illustrated in FIG. 1 or replaced by the controller 160 illustrated in FIG. 1.
  • the output unit 430 may stop outputting the lock release signal when the steering determination unit 420 determines that the steering is possible from the inability to steer. Specifically, when the coupling member 240 is melted by the heating member 300, the driver may rotate the steering wheel 110, and the steering angle generated as the steering wheel 110 rotates is It can be detected again. In addition, the steering lock determination unit 420 determines that steering is possible based on the reception of the steering angle signal, so that the output unit 430 may stop outputting the lock release signal.
  • FIG 5 is a view for explaining an embodiment in which the steering lock in the steering column 200 is released according to the present disclosure.
  • the steering assist device 100 includes a steering column 200 in which the shaft 210 and the first reduction gear 220 are coupled via a coupling member 240. Are doing.
  • the steering assistance device 100 according to the present disclosure is in a normal state, when the driver manipulates the steering wheel 110, the shaft 210, the first reduction gear 220, the second reduction gear 230, and steering The motor 170 rotates together.
  • the steering assist device 100 needs to emergencyly assist the steering of the vehicle by rotating only the steering wheel 110 and the shaft 210.
  • the steering lock release device 400 applies a lock release current to the heating member 300 when it is determined that steering is impossible due to the steering lock.
  • the heating member 300 generates heat by receiving a lock release current from the steering lock release device 400.
  • the heating member 300 is a coil
  • the unlocking current flows through the coil, heat is generated by the resistance of the coil and the unlocking current.
  • the high heat generated by the heating member 300 is directly transmitted to the coupling member 240 or transmitted through the shaft 210. Accordingly, when the temperature of the coupling member 240 becomes higher than the melting point of the coupling member 240 due to high heat, the coupling member 240 undergoes a phase transition (melting) from a solid to a liquid.
  • the coupling member 240 may be physically removed or the coupling of the shaft 210 and the first reduction gear 220 may be released by other methods other than the method of melting the coupling member 240.
  • the steering assist device 100 provides an effect of enabling manual steering only by a driver's steering operation in an emergency situation.
  • FIG. 6 is a flowchart illustrating a steering lock release method according to the present disclosure.
  • the steering lock release method includes a steering torque signal receiving step (S610) of receiving a steering torque signal, a steering angle signal receiving step (S620) of receiving a steering angle signal, and a vehicle speed signal. It may include a vehicle speed signal reception step (S630), a steering lock determination step (S640) and an output step (S650).
  • the receiving unit 410 included in the unlocking device receives a steering torque signal, a steering angle signal, and a vehicle speed signal. Receive.
  • the steering lock determination step (S640) is based on whether the steering lock determination unit 420 included in the unlocking device receives a steering torque signal and a steering angle signal indicated by the steering torque signal.
  • the steering lock determination step S640 may determine whether or not the above-described steering is possible based on the vehicle speed. A specific method will be described later.
  • the output unit 430 included in the lock release device applies heat to the coupling member 240 disposed between the outer circumferential surface of the shaft 210 and the inner circumferential surface of the reducer 300 To output the unlock signal.
  • FIGS. 7A and 7B are flowcharts illustrating a first embodiment of determining a steering lock according to the present disclosure.
  • step S710 the size of the steering torque and the size of the preset reference steering torque are compared.
  • the reason for comparing the steering torque and the reference steering torque is that when the steering torque is very small, the steering angle may not be detected by the steering angle sensor even if the steering assist device 100 is in a normal state. Specifically, when the steering torque is generated, a corresponding friction torque is also generated, so if the steering torque is very small, the steering angle signal may not be generated by the friction torque.
  • a dead zone for steering torque may be set in order to secure a certain degree of straightness of the vehicle.
  • the reference steering torque needs to be set in advance in order to prevent misdetection of steering inability due to the steering lock, and in this case, the reference steering torque may be set based on the friction torque or a dead zone.
  • step S720 If the size of the steering torque is greater than or equal to the size of the reference steering torque, it is determined whether or not the steering angle signal is received in step S720.
  • step S731 it is determined that the steering assist device 100 is in a normal state in the present disclosure and is capable of steering.
  • step S731 it is determined in step S731 that the steering is possible.
  • step S732 If the steering angle signal is not received, it is determined in step S732 that steering is impossible due to the steering lock.
  • the steering lock determination unit 420 compares the magnitude of the steering torque indicated by the steering torque signal and the magnitude of the preset reference steering torque, and the steering angle signal is not received by the receiving unit 410, If the torque is more than the standard steering torque, it is judged that the steering is impossible.
  • the unlocking method according to the present disclosure after comparing the magnitude of the steering torque and the reference steering torque (S710 ), determining whether or not a steering angle signal is received (S720 ). In addition, as shown in FIG. 7B, the unlocking method according to the present disclosure may first determine whether or not a steering angle signal is received, and then compare the magnitude of the steering torque and the reference steering torque to determine whether or not to steer.
  • the steering assist device 100 is in a normal state, when the vehicle is parked on the shoulder or slope, there is a case where the steering angle signal is temporarily not generated because the wheel of the vehicle is constrained by an obstacle such as a curb or a tree. have.
  • FIG. 8 is a flowchart illustrating a second embodiment of determining a steering lock according to the present disclosure.
  • steps S810 and S820 are the same as steps S710 and S720 described above with reference to FIG. 7 and thus are omitted.
  • step S830 it is determined whether the vehicle speed is less than the preset reference vehicle speed for a preset reference time.
  • the reference time and the reference vehicle speed are preset in consideration of a case where the vehicle moves at a very small vehicle speed equivalent to parking, stopping, or parking.
  • step S841 If the vehicle speed is less than the reference vehicle speed during the reference time, in step S841, it is recognized that the steering assist device 100 is in a normal state and determines that the steering is possible.
  • step S842 If the vehicle speed is greater than or equal to the reference vehicle speed during the reference time, it is determined in step S842 that steering is impossible due to the steering lock.
  • the receiving unit 410 when the receiving unit 410 further receives a vehicle speed signal for the vehicle speed of the vehicle,
  • the steering lock determination unit 420 compares the vehicle speed indicated by the vehicle speed signal with a preset reference vehicle speed for a preset reference time, and if the vehicle speed is less than the reference vehicle speed, determines that steering is possible.
  • the steering lock determination unit 420 determines that steering is impossible.
  • the unlocking method according to the present disclosure illustrated in FIG. 8 compares the magnitude of the steering torque, determines whether or not a steering angle signal is received, and then compares the vehicle speed. As shown in FIG. 7, the order may be changed.
  • the unlocking method according to the present disclosure may first compare a vehicle speed, compare a magnitude of a steering torque, and determine whether or not a steering angle signal is received.
  • a steering angle signal may be first compare a vehicle speed, compare a magnitude of a steering torque, and determine whether or not a steering angle signal is received.
  • the present disclosure provides an effect of minimizing an erroneous determination of inability to steer due to a steering lock.
  • the vehicle when a vehicle travels off-road such as an unpaved road or runs while leaning against a median, the vehicle may be difficult to steer in a specific direction. That is, there is a case where the steering wheel 110 cannot rotate in a specific direction. In this case, since the steering wheel 110 can rotate in a direction opposite to a specific direction, it is possible that it is a mistake to judge that the steering is impossible due to the steering lock even in this situation.
  • Examples of a direction opposite to one direction may be a clockwise direction and a counterclockwise direction.
  • FIG. 9 is a flowchart illustrating a third embodiment of determining a steering lock according to the present disclosure.
  • step S910 a first steering torque signal is received.
  • the first steering torque (+ ⁇ ) is a steering torque corresponding to the first rotation direction of the steering wheel 110, for example, the first steering torque (+ ⁇ ) is the driver counterclockwise the steering wheel 110 This is the steering torque generated when operating in the direction.
  • step S920 the magnitude of the first steering torque (+ ⁇ ) and the magnitude of the reference steering torque ( ⁇ th ) are compared.
  • the first steering angle may be a steering angle corresponding to the first rotation direction of the steering wheel 110.
  • the first steering angle is a steering angle that can occur when the driver manipulates the steering wheel 110 in a counterclockwise direction.
  • a second steering torque signal is received in step S940.
  • the second steering torque (- ⁇ ) may be a steering torque corresponding to the second rotation direction of the steering wheel 110.
  • the second steering torque (- ⁇ ) is a steering torque generated when the driver manipulates the steering wheel 110 clockwise.
  • step S950 the magnitude of the second steering torque (- ⁇ ) and the magnitude of the reference steering torque ( ⁇ th ) are compared.
  • the second steering angle is a steering angle corresponding to the second rotation direction of the steering wheel 110, for example, the second steering angle is a steering angle that can occur when the driver manipulates the steering wheel 110 clockwise.
  • step S971 it is recognized that the steering assist device 100 is in a normal state and determines that the steering is possible.
  • both the first steering torque (+ ⁇ ) and the second steering torque (- ⁇ ) are greater than or equal to the reference steering torque ( ⁇ th ), and both the first steering angle signal and the second steering angle signal are not received, the step In S972, it is determined that steering is impossible due to steering lock.
  • the steering lock determination unit 420 does not receive a steering angle signal by the reception unit 410, and the first steering torque signal indicated by the first steering torque signal corresponding to the first rotation direction of the steering wheel 110 If both the magnitude of the steering torque and the magnitude of the second steering torque indicated by the second steering torque signal corresponding to the second rotation direction opposite to the first rotation direction are equal to or greater than the reference steering torque, it is determined that steering is impossible.
  • the present disclosure provides an effect of accurately determining steering inability due to a steering lock.
  • FIG. 10 is a flowchart illustrating a fourth embodiment of determining a steering lock according to the present disclosure.
  • steps S1010 to S1060 are the same as steps S910 to S960 described above with reference to FIG. 9 and thus are omitted.
  • the step In S1070 it is determined whether the vehicle speed is less than a preset reference vehicle speed during a preset reference time.
  • step S1081 it is recognized that the steering assist device 100 is in a normal state and determines that the steering is possible.
  • Both the first steering torque (+ ⁇ ) and the second steering torque (- ⁇ ) are greater than or equal to the standard steering torque ( ⁇ th ), and both the first steering angle signal and the second steering angle signal are not received, and the vehicle speed is If it is more than the reference vehicle speed during the reference time, it is determined in step S1082 that steering is impossible due to the steering lock.
  • the unlocking method according to the present disclosure may be the first to perform the step of comparing the vehicle speed with the reference vehicle speed, unlike the unlocking method according to the present disclosure illustrated in FIG. 10.
  • the present disclosure may provide a lock release method capable of accurately determining whether steering is impossible due to a steering lock, a lock release device, and a steering assist device 100 including the same.
  • the present disclosure may provide a lock release method for preventing a safety accident by releasing a steering lock in a situation where steering is impossible, a lock release device, and a steering assist device 100 including the same.

Landscapes

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

Abstract

La présente invention concerne un procédé de déverrouillage, un dispositif de déverrouillage et un appareil d'aide à la direction le comprenant. En particulier, un appareil d'aide à la direction selon la présente invention comprend : un capteur d'angle de direction ; un capteur de couple de direction ; un arbre couplé à un volant de direction ; une colonne de direction comprenant un réducteur de vitesse couplé à l'arbre au moyen d'un élément de couplage ; un élément chauffant disposé sur la surface circonférentielle externe de l'arbre et appliquant de la chaleur à l'élément de couplage ; un dispositif de déverrouillage de direction qui, sur la base de l'amplitude du couple de direction et si l'angle de direction est, ou non, détecté, détermine si une direction est, ou non, impossible en raison d'un verrouillage de direction d'un véhicule, et émet un signal de déverrouillage à l'élément chauffant lorsqu'il est déterminé qu'une direction est impossible.
PCT/KR2020/003099 2019-03-14 2020-03-05 Procédé de déverrouillage, dispositif de déverrouillage et appareil d'aide à la direction le comprenant Ceased WO2020184894A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020190029478A KR102660418B1 (ko) 2019-03-14 2019-03-14 잠김 해제 방법, 잠김 해제 장치 및 이를 포함하는 조향 보조 장치
KR10-2019-0029478 2019-03-14

Publications (1)

Publication Number Publication Date
WO2020184894A1 true WO2020184894A1 (fr) 2020-09-17

Family

ID=72426252

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/KR2020/003099 Ceased WO2020184894A1 (fr) 2019-03-14 2020-03-05 Procédé de déverrouillage, dispositif de déverrouillage et appareil d'aide à la direction le comprenant

Country Status (2)

Country Link
KR (1) KR102660418B1 (fr)
WO (1) WO2020184894A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102395668B1 (ko) 2021-05-28 2022-05-10 주식회사 만도 조향 제어 장치 및 방법

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06336165A (ja) * 1993-05-28 1994-12-06 Toyota Motor Corp 電動式パワーステアリング装置
JP2003343696A (ja) * 2002-03-20 2003-12-03 Nsk Ltd 電動パワーステアリング装置用減速ギア
JP2004286179A (ja) * 2003-03-25 2004-10-14 High Frequency Heattreat Co Ltd ギアユニット及びその製造方法
US20120067160A1 (en) * 2007-08-29 2012-03-22 Dubay Robert W Steering column manufacturing machine and method of manufacturing a steering column
US20160146264A1 (en) * 2014-11-20 2016-05-26 Hamilton Sundstrand Corporation Thermal disconnect assembly with flight control permanent magnet generator for integrated drive generator

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06336165A (ja) * 1993-05-28 1994-12-06 Toyota Motor Corp 電動式パワーステアリング装置
JP2003343696A (ja) * 2002-03-20 2003-12-03 Nsk Ltd 電動パワーステアリング装置用減速ギア
JP2004286179A (ja) * 2003-03-25 2004-10-14 High Frequency Heattreat Co Ltd ギアユニット及びその製造方法
US20120067160A1 (en) * 2007-08-29 2012-03-22 Dubay Robert W Steering column manufacturing machine and method of manufacturing a steering column
US20160146264A1 (en) * 2014-11-20 2016-05-26 Hamilton Sundstrand Corporation Thermal disconnect assembly with flight control permanent magnet generator for integrated drive generator

Also Published As

Publication number Publication date
KR20200109805A (ko) 2020-09-23
KR102660418B1 (ko) 2024-04-24

Similar Documents

Publication Publication Date Title
WO2020004897A1 (fr) Appareil de direction assistée électronique
WO2021101226A1 (fr) Appareil et procédé de commande de direction
EP4096065B1 (fr) Dispositif d'entraînement électrique et dispositif de direction assistée électrique
WO2020184894A1 (fr) Procédé de déverrouillage, dispositif de déverrouillage et appareil d'aide à la direction le comprenant
WO2020231128A1 (fr) Dispositif de commande de direction et procédé associé, et système de commande de direction
WO2012141383A1 (fr) Structure anti-séparation d'un aimant de détection pour un moteur
WO2011122775A2 (fr) Appareil de détection de couple et système de direction en étant équipé
EP0249902B1 (fr) Méthode et système de sécurité pour appareil de direction assistée entraîné par un moteur
WO2020256338A1 (fr) Dispositif de commande de direction et système de direction assistée comprenant celui-ci
WO2018101638A1 (fr) Ensemble capot, moteur et dispositif de direction électrique le comprenant
WO2020055068A1 (fr) Moteur
WO2021162344A1 (fr) Dispositif et procédé d'assistance de direction et système de direction
WO2021096109A1 (fr) Dispositif d'entraînement électronique de type moyeu
WO2021015460A1 (fr) Système d'aide à la direction assistée et dispositif de commande électronique
WO2020246787A1 (fr) Dispositif de commande de direction, procédé de commande de direction et système de support de direction les comprenant
WO2021137528A1 (fr) Appareil et procédé de commande de direction
WO2018088787A1 (fr) Capteur d'indice de couple et dispositif de direction le comprenant
WO2019050199A1 (fr) Moteur
WO2020130604A1 (fr) Dispositif de commande de moteur auxiliaire de direction dans un système eps et son procédé
WO2020122555A1 (fr) Système, dispositif et procédé de commande de direction
WO2011010768A1 (fr) Dispositif de verrouillage d’une moto et son procédé
WO2018135805A1 (fr) Ensemble d'aimant de détection, appareil de détection de position de rotor et moteur le comprenant
WO2020138823A1 (fr) Dispositif de commande de direction et son procédé de commande
KR900009002B1 (ko) 모터구동식 파워스테어링 제어장치
WO2020032395A1 (fr) Rotor et moteur le comprenant

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20770846

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20770846

Country of ref document: EP

Kind code of ref document: A1