KR-20260065344-A - STEERING CONTROL SYSTEM AND METHOD FOR AUTONOMOUS VEHICLE

KR20260065344AKR 20260065344 AKR20260065344 AKR 20260065344AKR-20260065344-A

Abstract

A steering control system for a vehicle according to an embodiment of the present specification includes: a steering angle sensor device that outputs a sensing signal according to a steering wheel angle; and a first calculation device that calculates the sensing signal according to at least two logics and outputs the steering wheel angle as a calculation result when the steering wheel angles calculated as the calculation results of each logic match each other.

Inventors

채병우

Assignees

현대자동차주식회사
기아 주식회사

Dates

Publication Date: 20260508
Application Date: 20241101

Claims (13)

A steering angle sensor device that outputs a sensing signal according to the steering wheel angle; and A first calculation device that calculates the above-mentioned sensing signal according to at least two logics, and outputs the steering wheel angle calculated as the result of each logic's calculation as the result of the calculation when the steering wheel angles match each other; A steering control system for a vehicle including
In paragraph 1, A second computing device that receives the same sensing signal as the first computing device, calculates the steering wheel angle using the same logic, and outputs the steering wheel angle calculation result; and A control unit that controls vehicle functions based on a steering wheel angle output from at least one of the first computing device and the second computing device; A steering control system for a vehicle that further includes
In paragraph 2, The first and second arithmetic units determine an error state and output an error signal when the steering wheel angles calculated as the result of each logic operation do not match each other. The above control unit is a steering control system for a vehicle that controls vehicle functions based on a steering wheel angle output from a computational device that has not generated an error.
In paragraph 3, The first arithmetic unit and the second arithmetic unit are, A steering control system for a vehicle that, when determined to be in the above error state, receives a steering wheel angle output from a computing device where the above error did not occur, and recovers the steering wheel angle calculation result where the error occurred based on the received steering wheel angle.
In paragraph 1, The above steering angle sensor device is, Main gear mounted on the steering shaft; A first sub-gear having fewer teeth than the main gear and rotating in mesh with the main gear; A second sub-gear having fewer teeth than the first sub-gear and rotating in mesh with the main gear; A first sensor that outputs a first sensing signal according to the rotation of the first sub-gear; and A second sensor that outputs a second sensing signal according to the rotation of the second sub-gear; A steering control system for a vehicle including
In paragraph 5, The first arithmetic unit and the second arithmetic unit are, Calculate the rotation angle of the first sub-gear and the rotation angle of the second sub-gear based on the first sensing signal and the second sensing signal; A steering control system for a vehicle that calculates the rotation angle of the main gear by calculating the rotation angle of the first sub-gear and the rotation angle of the second sub-gear according to the two or more logics.
In paragraph 6, The first arithmetic unit and the second arithmetic unit are, A first logic that outputs the rotation angle of the main gear calculated by calculating the rotation angles of the first sub-gear and the second sub-gear as the first steering wheel angle; and A second logic that calculates a change in the rotation angle of the main gear based on a change in the rotation angle of the first sub-gear and the second sub-gear, and outputs the calculated rotation angle of the main gear as a second steering wheel angle by accumulating the change in the rotation angle of the main gear; A steering control system for a vehicle including
In Paragraph 7, The first arithmetic unit and the second arithmetic unit are, A steering control system for a vehicle that determines an error state and outputs an error signal when the steering wheel angles calculated as the operation results of the first logic and the second logic do not match each other, and when the error state is determined, receives the steering wheel angle output from the calculation device where no error occurred, initializes the operation result with the steering wheel angle calculated to be the same as the received steering wheel angle among the operation result of the first logic and the operation result of the second logic, and then recalculates the steering wheel angle.
A step of receiving a sensing signal according to the steering wheel angle in a first computing device; A step of calculating a first steering wheel angle by performing calculations on the above sensing signal according to a first logic; A step of calculating a second steering wheel angle by performing calculations on the above sensing signal according to a second logic; and A step of outputting the steering wheel angle as the calculation result of the first calculation device when the first steering wheel angle and the second steering wheel angle match each other; A control method for a steering control system for a vehicle including
In Paragraph 9, A step of receiving the same sensing signal as the first computing device in the second computing device, calculating the steering wheel angle using the same logic, and outputting the result of the calculation of the second computing device; and A step of controlling vehicle functions based on a steering wheel angle output from at least one of the first computing device and the second computing device; A control method for a steering control system for a vehicle that further includes
In Paragraph 10, In the first and second arithmetic units, if the first steering wheel angle and the second steering wheel angle do not match each other, a step of determining an error state and outputting an error signal; and A step of controlling vehicle functions based on the steering wheel angle output from the calculation device among the first calculation device and the second calculation device that does not have an error; A control method for a steering control system for a vehicle that further includes
In Paragraph 11, A control method for a steering control system for a vehicle, further comprising the step of receiving the steering wheel angle from the calculation device where no error occurred among the first calculation device and the second calculation device where an error occurred, and recovering the steering wheel angle calculation result.
In Paragraph 12, The step of recovering the above steering wheel angle calculation result is, A step of comparing the steering wheel angle received from the computing device where the above error did not occur with the calculation result of the first logic and the calculation result of the second logic; and A control method for a steering control system for a vehicle, comprising the step of recalculating the steering wheel angle by setting the result of a logic calculation calculated to be the same as the received steering wheel angle as the initial value.

Description

Steering control system for a vehicle and method for controlling the same The embodiments of this specification relate to a steering control system for a vehicle and a method for controlling the same. Generally, a steering system applied to a vehicle may include a steering angle sensor installed on a steering shaft that transmits operating force in conjunction with the steering wheel operated by the driver, for detecting the rotation angle of the steering wheel, i.e., the steering angle. As fundamental information for vehicle operation, the steering angle can be utilized as important information to provide various functions, such as autonomous driving systems and driver assistance systems. Therefore, if an error occurs in relation to the function of calculating and transmitting the steering angle, there is a problem in that all functions utilizing the steering wheel angle signal, including autonomous driving functions, become unusable. FIG. 1 is an exemplary diagram showing the schematic configuration of a steering angle sensor device applied to a steering control system for a vehicle according to one embodiment of the present specification. FIG. 2 is a schematic control block diagram of a steering control system for a vehicle according to one embodiment of the present specification. FIG. 3 is a flowchart illustrating a first logic for calculating a steering wheel angle. FIG. 4 is a flowchart illustrating a second logic for calculating the steering wheel angle. FIG. 5 is a control flowchart of a steering control system for a vehicle according to one embodiment of the present specification. Hereinafter, to specifically explain the present invention, embodiments will be described, and to facilitate understanding of the invention, the invention will be described in detail with reference to the accompanying drawings. In describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art may obscure the essence of the embodiments disclosed in this specification, such detailed description will be omitted. Furthermore, the accompanying drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the accompanying drawings; it should be understood that the invention includes all modifications, equivalents, and substitutions that fall within the spirit and technical scope of the invention. Throughout the specification, the same reference numerals refer to the same components. This specification does not describe all elements of the embodiments, and general content in the art to which the invention pertains or content that overlaps between embodiments is omitted. The terms 'part, module, device' used in the specification may be implemented in software or hardware, and depending on the embodiments, a plurality of 'parts, modules, devices' may be implemented as a single component, or a single 'part, module, device' may include a plurality of components. Terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but said components are not limited by said terms. These terms are used solely for the purpose of distinguishing one component from another. When it is stated that one component is "connected" or "connected" to another component, it should be understood that while it may be directly connected or connected to that other component, there may also be other components in between. On the other hand, when it is stated that one component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between. A singular expression includes a plural expression unless the context clearly indicates otherwise. In this specification, terms such as “comprising” or “having” are intended to indicate the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not excluding in advance the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof. The steering control system for a vehicle and the control method thereof according to the embodiments of the present specification can reduce the error probability of the steering wheel angle by duplicating the calculation logic of an MCU that calculates the steering wheel angle, and outputting the corresponding value as the steering wheel angle when the steering wheel angles calculated according to different calculation logics match. In addition, by duplicating the MCU so that steering wheel angles are output independently from two or more MCUs, vehicle functions such as autonomous driving functions can be maintained by using the steering wheel angle of another MCU even if an error occurs in one MCU. Meanwhile, in the case of an MCU wh