Disclosed are a steering control device, a steering control method, and a steering support system including same. Particularly, a steering control device according to the disclosure comprises: a command value calculation unit for calculating, on the basis of steering information corresponding to the rotation of a steering wheel, a rack movement command value that commands the movement of a rack; a difference value calculation unit for calculating the difference value between the rack movement command value and the rack movement sensing value by receiving a rack movement sensing value corresponding to the movement of the rack when the movement of the rack is sensed; and a reaction torque calculation unit for calculating reaction torque on the basis of the difference value and one or more preset virtual linkage parameters.
La présente invention concerne un dispositif de commande de direction, un procédé de commande de direction et un système de support de direction les comprenant. En particulier, un dispositif de commande de direction selon l'invention comprend : une unité de calcul de valeur de commande pour calculer, sur la base d'informations de direction correspondant à la rotation d'un volant, une valeur de commande de mouvement de crémaillère qui commande le mouvement d'une crémaillère ; une unité de calcul de valeur de différence pour calculer la valeur de différence entre la valeur de commande de mouvement de crémaillère et la valeur de détection de mouvement de crémaillère en recevant une valeur de détection de mouvement de crémaillère correspondant au mouvement de la crémaillère lorsque le mouvement de la crémaillère est détecté ; et une unité de calcul de couple de réaction pour calculer un couple de réaction sur la base de la valeur de différence et d'un ou de plusieurs paramètres de liaison virtuelle prédéfinis.
본 개시는 조향 제어 장치, 조향 제어 방법 및 이를 포함하는 조향 보조 시스템에 관한 것이다. 구체적으로, 본 개시에 따른 조향 제어 장치는 스티어링 휠의 회전에 의한 조향 정보에 기초하여 랙(rack)의 이동을 지시하는 랙 이동 지령값을 산출하는 지령값 산출부와, 랙의 이동이 감지되면, 랙의 이동에 따른 랙 이동 감지값을 수신하여 랙 이동 지령값과 랙 이동 감지값의 차이값을 산출하는 차이값 산출부 및 차이값과 미리 설정된 하나 이상의 버츄얼 링키지(Virtual linkage) 파라미터에 기초하여 반력 토크를 산출하는 반력 토크 산출부를 포함한다.
STEERING CONTROL DEVICE, STEERING CONTROL METHOD, AND STEERING SUPPORT SYSTEM INCLUDING SAME
DISPOSITIF DE COMMANDE DE DIRECTION, PROCÉDÉ DE COMMANDE DE DIRECTION ET SYSTÈME DE SUPPORT DE DIRECTION LES COMPRENANT
조향 제어 장치, 조향 제어 방법 및 이를 포함하는 조향 보조 시스템
2020-12-10
Patent
Electronic Resource
Korean
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