Apparatus and method for controlling rear-wheel steering
The present invention provides a rear-wheel steering control technique. Specifically, a rear-wheel steering control apparatus for controlling rear-wheel steering control, according to an aspect of the present invention, may include: a vehicle data collection unit configured to receive vehicle data including at least one of steering angle data, steering torque data, vehicle speed data, yaw rate data, or lateral acceleration data; a vehicle data determination unit configured to determine whether or not the steering angle data included in the vehicle data is normal; and a rear-wheel steering control unit configured to generate a rear-wheel steering control signal for degradation rear-wheel control based on at least one of the steering torque data, the vehicle speed data, the yaw rate data, or the lateral acceleration data when the steering angle data is determined to be abnormal.
1. A rear-wheel steering control apparatus comprising:
a vehicle data collection unit configured to receive vehicle data including at least one of steering angle data, steering torque data, vehicle speed data, yaw rate data, and lateral acceleration data;
a vehicle data determination unit configured to determine whether or not the steering angle data included in the vehicle data is normal; and
a rear-wheel steering control unit configured to generate a rear-wheel steering control signal for degradation rear-wheel control based on at least one of the steering torque data, the vehicle speed data, the yaw rate data, or the lateral acceleration data when the steering angle data is determined to be abnormal.
2. The rear-wheel steering control apparatus according to claim 1 , wherein the vehicle data determination unit further determines whether or not the steering torque data is normal, and
wherein the rear-wheel steering control unit generates a rear-wheel control signal for the degradation control based on the steering torque data when the steering torque data is determined to be normal.
3. The rear-wheel steering control apparatus according to claim 1 , wherein the degradation rear-wheel control is yaw-damping control for attenuating a yaw rate change or yaw-boosting control for increasing a yaw rate change.
4. The rear-wheel steering control apparatus according to claim 1 , wherein the rear-wheel steering control unit generates a rear-wheel steering control signal for increasing a yaw rate change when an amount of change in the steering torque included in the steering torque data is greater than a predetermined amount of change in the steering torque.
5. The rear-wheel steering control apparatus according to claim 1 , wherein the rear-wheel steering control unit generates a rear-wheel steering control signal for attenuating a yaw rate change when the amount of yaw rate change included in the yaw rate data is greater than a predetermined amount of yaw rate change.
6. The rear-wheel steering control apparatus according to claim 1 , wherein the rear-wheel steering control unit generates the rear-wheel control signal including a rear-wheel steering direction that is determined in the same phase or a reverse phase with respect to front wheels based on a vehicle speed included in the vehicle speed data.
7. A rear-wheel steering control method comprising:
receiving vehicle data including at least one of steering angle data, steering torque data, vehicle speed data, yaw rate data, or lateral acceleration data;
determining whether or not the steering angle data included in the vehicle data is normal; and
generating a rear-wheel steering control signal for degradation rear-wheel control based on at least one of the steering torque data, the vehicle speed data, the yaw rate data, or the lateral acceleration data when the steering angle data is determined to be abnormal.
8. The rear-wheel steering control method according to claim 7 , further comprising determining whether or not the steering torque data of the vehicle data is normal, wherein the generating of a rear-wheel steering control signal comprises generating a rear-wheel control signal for the degradation control based on the steering torque data when the steering torque data is determined to be normal.
9. The rear-wheel steering control method according to claim 7 , wherein the degradation rear-wheel control is yaw-damping control for attenuating a yaw rate change or yaw-boosting control for increasing a yaw rate change.
10. The rear-wheel steering control method according to claim 7 , wherein the generating of a rear-wheel steering control signal comprises generating a rear-wheel steering control signal for increasing a yaw rate change when an amount of change in the steering torque included in the steering torque data is greater than a predetermined amount of change in the steering torque.
11. The rear-wheel steering control method according to claim 7 , wherein the generating of a rear-wheel steering control signal comprises generating a rear-wheel steering control signal for attenuating a yaw rate change when an amount of yaw rate change included in the yaw rate data is greater than a predetermined amount of yaw rate change.
12. The rear-wheel steering control method according to claim 7 , wherein the generating of a rear-wheel steering control signal comprises generating a rear-wheel control signal including a rear-wheel steering direction that is determined in the same phase or a reverse phase with respect to front wheels based on a vehicle speed included in the vehicle speed data.