Steering control apparatus and steering control method
The present invention relates to a steering control apparatus comprising: a sensing unit configured to sense at least one among a vehicle speed, a steering angle, first lateral acceleration, and a steering angle speed; an estimation unit configured to estimate second lateral acceleration on the basis of the vehicle speed and the steering angle; and a controller configured to control a steering device so that a steering torque increases, on the basis of a slip gradient which indicates a difference between the first lateral acceleration and the second lateral acceleration, wherein the controlling of the steering device is released when the steering angle speed is inverted.
1. A steering control apparatus comprising:
a sensing unit configured to sense a vehicle speed, a steering angle, first lateral acceleration, and a steering angle speed;
an estimation unit configured to estimate second lateral acceleration on the basis of the vehicle speed and the steering angle;
a controller configured to
control a steering device to thereby increase a steering torque on the basis of a slip gradient which indicates a difference between the first lateral acceleration and the second lateral acceleration, and
release the controlling of the steering device when the steering angle speed is inverted, and
a dead zone setting unit configured to set a dead zone in which the slip gradient is set to have a value from 0 to a predetermined value,
wherein the controller controls the steering device so that the steering torque increases only when the slip gradient corresponds to a zone other than the dead zone.
2. The steering control apparatus of claim 1 , wherein the controller outputs a compensation torque, which is proportionate to the slip gradient, to control the steering device so that the steering torque increases, thereby limiting the increase of the steering angle.
3. The steering control apparatus of claim 1 , wherein the estimation unit estimates the second lateral acceleration, using a cornering equation of a bicycle model.
4. The steering control apparatus of claim 1 , further comprising a zone signal generation unit configured to generate at least one zone signal, wherein the dead zone setting unit changes the predetermined value on the basis of the zone signal.
5. The steering control apparatus of claim 1 , further comprising a gain signal generation unit configured to generate at least one gain signal, wherein the controller multiplies a compensation torque for the slip gradient by the gain signal to adjust the amount of increase in the steering torque.
6. A steering control method, comprising:
sensing a vehicle speed, a steering angle, first lateral acceleration, and a steering angle speed;
estimating second lateral acceleration on the basis of the vehicle speed and the steering angle;
controlling a steering device to thereby increase a steering torque on the basis of a slip gradient which indicates a difference between the first lateral acceleration and the second lateral acceleration;
releasing the controlling of the steering device when the steering angle speed is inverted; and,
setting a dead zone in which the slip gradient is set to have a value from 0 to a predetermined value, wherein, in the controlling of the steering device, the slip gradient is compensated only when the slip gradient corresponds to a zone other than the dead zone.
7. The steering control method of claim 6 , further comprising generating at least one zone signal, wherein, in the setting of the dead zone, the predetermined value is changed on the basis of the zone signal.
8. The steering control method of claim 6 , further comprising generating at least one gain signal, wherein, in the controlling of the steering device, the amount of an increase in the steering torque is adjusted by multiplying a compensation value for the slip gradient by the gain signal.