Steering control device and method
The embodiments of the present disclosure relate to a steering control device and method. Specifically, a steering control device according to the present disclosure may include a receiver configured to receive inclination angle information, vehicle speed information of a host vehicle, steering angle information of a steering wheel, steering angular velocity information of the steering wheel, and hysteresis torque information of the host vehicle from a plurality of sensors, a determiner configured to determine whether the host vehicle is located on a flat surface based on the inclination angle information, an estimator configured to estimate a loading weight based on a hysteresis torque value compared to a steering angular velocity value if determined that the host vehicle is located on the flat surface, and a controller configured to shift an assist map based on the estimated loading weight.
1. A steering control device comprising:
a receiver configured to receive inclination angle information, vehicle speed information of a host vehicle, steering angle information of a steering wheel, steering angular velocity information of the steering wheel, and hysteresis torque information of the host vehicle from a plurality of sensors;
a determiner configured to determine whether the host vehicle is located on a flat surface based on the inclination angle information;
an estimator configured to estimate a loading weight based on a hysteresis torque value compared to a steering angular velocity value if determined that the host vehicle is located on the flat surface; and
a controller configured to shift an assist map based on the estimated loading weight.
2. The steering control device of claim 1 , wherein, in the assist map, an assist torque value corresponding to the hysteresis torque value is set according to a predetermined criterion.
3. The steering control device of claim 2 , wherein, in the assist map, the assist torque value corresponding to the hysteresis torque value is set according to a speed of the host vehicle.
4. The steering control device of claim 1 , wherein, if the estimated loading weight exceeds a predetermined reference weight, the controller shifts the assist map so that an assist torque value corresponding to the hysteresis torque value increases.
5. The steering control device of claim 1 , wherein, if the estimated loading weight is less than or equal to a predetermined reference weight, the controller shifts the assist map so that an assist torque value corresponding to the hysteresis torque value decreases.
6. The steering control device of claim 1 , wherein the determiner further determines whether the host vehicle is stopped, and the estimator estimates the loading weight if the host vehicle is located on a flat surface and stopped.
7. The steering control device of claim 1 , wherein the controller classifies the estimated loading weight into one of a plurality of weight sections, and sets an assist torque value corresponding to the hysteresis torque value for each classified weight section.
8. The steering control device of claim 1 , wherein the receiver further receives pressure information on a tire of the host vehicle,
wherein the estimator compares a first weight estimation result value estimated based on the hysteresis torque value compared to the steering angular velocity value with a second weight estimation result value estimated based on the pressure information, and, if a difference between the first weight estimation result value and the second weight estimation result value is less than or equal to a threshold value, the estimator estimates the first weight estimation result value as the loading weight.
9. The steering control device of claim 1 , wherein the estimator compares a first weight estimation result value estimated based on the hysteresis torque value compared to the steering angular velocity value with a third weight estimation result value estimated based on a steering angle value of the steering wheel and the hysteresis torque value, and, if a difference between the first weight estimation result value and the third weight estimation result value is less than or equal to a threshold value, the estimator estimates the first weight estimation result value as the loading weight.
10. A steering control method comprising:
receiving inclination angle information, vehicle speed information of a host vehicle, steering angle information of a steering wheel, steering angular velocity information of the steering wheel, and hysteresis torque information of the host vehicle from a plurality of sensors;
determining whether the host vehicle is located on a flat surface based on the inclination angle information;
estimating a loading weight based on a hysteresis torque value compared to a steering angular velocity value if determined that the host vehicle is located on the flat surface; and
controlling to shift an assist map based on the estimated loading weight.
11. The steering control method of claim 10 , wherein in the assist map, an assist torque value corresponding to the hysteresis torque value is set according to a predetermined criterion.
12. The steering control method of claim 11 , wherein, in the assist map, the assist torque value corresponding to the hysteresis torque value is set according to a speed of the host vehicle.
13. The steering control method of claim 10 , wherein controlling to shift an assist map comprises, if the estimated loading weight exceeds a predetermined reference weight, shifting the assist map so that an assist torque value corresponding to the hysteresis torque value increases.
14. The steering control method of claim 10 , wherein controlling to shift an assist map comprises, if the estimated loading weight is less than or equal to a predetermined reference weight, shifting the assist map so that an assist torque value corresponding to the hysteresis torque value decreases.
15. The steering control method of claim 10 , wherein the determining comprises further determining whether the host vehicle is stopped, and estimating a loading weight comprises estimating the loading weight if the host vehicle is located on a flat surface and stopped.
16. The steering control method of claim 10 , wherein controlling to shift an assist map comprises classifying the estimated loading weight into one of a plurality of weight sections, and setting an assist torque value corresponding to the hysteresis torque value for each classified weight section.
17. The steering control method of claim 10 , wherein the receiving comprises further receiving pressure information on a tire of the host vehicle,
wherein estimating a loading weight comprises comparing a first weight estimation result value estimated based on the hysteresis torque value compared to the steering angular velocity value with a second weight estimation result value estimated based on the pressure information, and, if a difference between the first weight estimation result value and the second weight estimation result value is less than or equal to a threshold value, estimating the first weight estimation result value as the loading weight.
18. The steering control method of claim 10 , wherein estimating a loading weight comprises comparing a first weight estimation result value estimated based on the hysteresis torque value compared to the steering angular velocity value with a third weight estimation result value estimated based on a steering angle value of the steering wheel and the hysteresis torque value, and, if a difference between the first weight estimation result value and the third weight estimation result value is less than or equal to a threshold value, estimating the first weight estimation result value as the loading weight.