TORQUE DATA ROBUSTING DEVICE AND METHOD
The embodiments of the present disclosure relate to a torque data robusting device and method. Specifically, the torque data robusting device according to the present disclosure may include a sensor unit for sensing a speed of a host vehicle, a steering angle and a steering torque for a steering wheel, and a controller configured to generate, if a steering torque value is not received from the sensor unit, a compensation torque to assist an user's steering based on the steering angle and the speed of the host vehicle, determine whether the user's steering is a normal steering or a return steering according to the steering angle and a steering angular velocity, and control to generate and adjust the compensation torque according to the normal steering or the return steering.
1 . A torque data robusting device comprising:
a sensor unit for sensing a speed of a host vehicle, a steering angle and a steering torque for a steering wheel; and
a controller configured to,
generate, if a steering torque value is not received from the sensor unit, a compensation torque to assist an user's steering based on the steering angle and the speed of the host vehicle,
determine whether the user's steering is a normal steering or a return steering according to the steering angle and a steering angular velocity, and
control to adjust the compensation torque according to the normal steering or the return steering.
2 . The torque data robusting device of claim 1 , wherein the controller determines that the user's steering is the normal steering if the signs of the steering angle and the steering angular velocity are the same.
3 . The torque data robusting device of claim 1 , wherein the controller determines that the user's steering is the return steering if the signs of the steering angle and the steering angular velocity are different from each other.
4 . The torque data robusting device of claim 1 , wherein the controller controls an output of the compensation torque to be changed in a ramp method for a predetermined time if it is determined that the user's steering is changed from the normal steering to the return steering, or from the return steering to the normal steering.
5 . The torque data robusting device of claim 1 , wherein the controller controls to generate a larger compensation torque as the steering angle increases in a preset steering angle section.
6 . The torque data robusting device of claim 1 , wherein the controller controls the compensation torque to be generated to be smaller in a case that the user's steering is the return steering than a case that the user's steering is the normal steering.
7 . A torque data robusting method comprising:
sensing, by a sensor unit, a speed of a host vehicle, a steering angle and a steering torque for a steering wheel;
generating, if a steering torque value is not received from the sensor unit, a compensation torque to assist an user's steering based on the steering angle and the speed of the host vehicle;
determining whether the user's steering is a normal steering or a return steering according to the steering angle and a steering angular velocity; and
controlling to adjust the compensation torque according to the normal steering or the return steering.
8 . The torque data robusting method of claim 7 , wherein the determining of the user's steering comprises determining that the user's steering is the normal steering if the signs of the steering angle and the steering angular velocity are the same.
9 . The torque data robusting method of claim 7 , wherein the determining of the user's steering comprises determining that the user's steering is the return steering if the signs of the steering angle and the steering angular velocity are different from each other.
10 . The torque data robusting method of claim 7 , wherein controlling to adjust the compensation torque comprises controlling an output of the compensation torque to be changed in a ramp method for a predetermined time if it is determined that the user's steering is changed from the normal steering to the return steering, or from the return steering to the normal steering.
11 . The torque data robusting method of claim 7 , wherein controlling to adjust the compensation torque comprises controlling to generate a larger compensation torque as the steering angle increases in a preset steering angle section.
12 . The torque data robusting method of claim 7 , wherein controlling to adjust the compensation torque comprises controlling the compensation torque to be generated to be smaller in a case that the user's steering is the return steering than a case that the user's steering is the normal steering.