Mando Corporation

Sang Jin Ko

Seung Gyu Hong

The present invention relates to an arbitration method of an electric power steering apparatus of a vehicle and arbitration apparatus thereof. When overlay requests, which are steering apparatus operation commands or requests, are input from two or more steering-related control systems in a vehicle that includes an electric power steering apparatus and two or more steering-related control systems for controlling the electric power steering apparatus, the steering apparatus operation commands are selectively transferred to the steering apparatus according to the priority of the steering-related control system to adjust various steering-related controls to not conflict with each other, thereby maintaining the stability of the vehicle and making an optimal steering control.

Steering arbitration apparatus and method of vehicle, and steering arbitration system having the same

The present invention relates to a steering control apparatus and a steering control method for removing an inwardly caused disturbance or outwardly caused disturbance with respect to a vehicle. It is possible to efficiently remove a disturbance of a steering control apparatus which is generated due to various causes by: confirming a disturbance cause based on estimated frequencies estimated based on three factors that affect the steering control apparatus (i.e., a first estimated frequency estimated based on the estimation of a rack force, a second estimated frequency estimated based on a steering torque signal, and a third estimated frequency estimated based on a vehicle wheel rotational speed); then determining a compensation rate, which varies depending on whether the disturbance is an internally caused disturbance or an externally caused disturbance; and then applying the compensation rate to a steering current value.

Steering control apparatus and steering control method

The present disclosure relates to a steering control apparatus comprising: a first sensing unit that senses a steering torque using a torque sensor; a high frequency output unit that inputs a steering torque to a high pass filter and output high frequency steering torques; a detection unit that detects a first frequency corresponding to a maximum steering torque among the high frequency steering torques; a calculation unit that calculates a high frequency steering torque change rate which is the rate of change in the high frequency steering torques; a band frequency output unit that inputs the high frequency steering torque change rate to a band pass filter that passes a first frequency band including the first frequency, to output a first frequency band steering torque change rate; and a compensation unit that compensates an assist current of a steering motor on the basis of a rejection gain.

A steering control apparatus, according to an embodiment, may include: a detecting unit configured to detect the angle of a pinion gear that is positioned in the front wheel, a column torque, and a motor current; a frequency estimating unit configured to estimate a road surface frequency that is generated by the road on which the vehicle travels based on at least one of the angle of the pinion gear, the column torque, or the motor current; a rack force estimating unit configured to estimate a rack force based on at least one of the angle of the pinion gear, the column torque, or the motor current; and a control unit configured to extract road surface information that is contained in the rack force based on the road surface frequency and configured to control a steering apparatus based on the road surface information and the rack force.

The present invention relates to an electronic control unit and a method for compensating for a torque steer. The electronic control unit includes: a driving torque calculation unit that calculates a drive shaft driving torque value, which is a torque value transmitted from an engine to a drive shaft; a torque steer degree calculation unit that calculates the actual driving torque value of a vehicle based on the drive shaft driving torque value, and calculates a torque steer degree by using the actual driving torque value; a compensation current calculation unit that calculates a torque steer compensation current value that compensates for the torque steer using the torque steer degree; a direction compensation unit that calculates a direction compensation current value according to a travelling direction of the vehicle; and a motor driving control unit that calculates a basic control current value using a steering angle and a steering torque value, calculates the final control current value by adding the torque steer compensation current value and the direction compensation current value to the basic control current value, and generates a control current according to the final control current value in order to supply the control current value to an electric motor.

Electronic control unit for compensating for torque steer

The present invention relates to an electronic control unit and a method for compensating for a torque steer. The electronic control unit includes: a driving torque calculation unit that calculates a drive shaft driving torque value using engine operation information and transmission operation information; a torque steer degree calculation unit that calculates the actual driving torque value of a vehicle based on the drive shaft driving torque value, and calculates a torque steer degree by using the actual driving torque value; a compensation current calculation unit that calculates a torque steer compensation current value that compensates for the torque steer using the torque steer degree; and a motor driving control unit that calculates a basic control current value using a steering angle and a steering torque value, calculates the final control current value by adding the torque steer compensation current value to the basic control current value, and generates a control current according to the final control current value in order to supply the control current value to an electric motor.

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Daejeon, South Korea

Sang Jin Ko