The present invention relates to a steering control apparatus and a steering control method, capable of assisting a driver in operating a steering wheel even if a failure occurs in a torque sensor that detects steering torque. The steering control apparatus includes: a sensing unit for sensing a plurality of torque sensing values based on an output of a torque sensor for sensing steering torque; a calculating unit for calculating a torque calculation value by calculating a torque sensing value belonging to a predetermined second allowable range among a plurality of torque sensing values and a predetermined motor assist value when it is determined that the difference between the plurality of torque sensing values exceeds a predetermined first allowable range; an estimating unit which estimates a torque estimation value that is a value obtained by estimating steering torque based on an output value of a pump pressure sensor included in a hydraulic power steering apparatus; and a control unit for controlling a steering motor based on the torque calculation value or the torque estimation value when it is determined that the difference between the torque calculation value and the torque estimation value is equal to or less than a preset third allowable range.
본 발명은 조향토크를 센싱하는 토크센서의 출력에 기초하여 복수의 토크센싱값을 센싱하는 센싱부와, 복수의 토크센싱값의 차이가 미리 설정된 제1허용범위를 초과하는 것으로 판단되면 복수의 토크센싱값 중 미리 설정된 제2허용범위에 포함되는 토크센싱값과 미리 설정된 모터 어시스트값을 연산하여 토크연산값을 산출하는 산출부와, 유압식조향(Hydraulic Power Steering)장치에 포함된 펌프압력센서의 출력값에 기초하여 조향토크를 추정한 값인 토크추정값을 추정하는 추정부 및, 토크연산값과 토크추정값의 차이가 미리 설정된 제3허용범위 이하인 것으로 판단되면 토크연산값 또는 토크추정값에 기초하여 조향모터를 제어하는 제어부를 포함하는 조향제어장치에 관한 것이다.
STEERING CONTROLLING APPARATUS AND STEERING CONTROLLING METHOD
조향제어장치 및 조향제어방법
2018-10-15
Patent
Elektronische Ressource
Koreanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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