Steering control apparatus, method therefor and steering system
The present disclosure provides a steering control apparatus, a method therefor and a steering system, wherein, when a vehicle slips, the steering control apparatus increases traction by steering a road wheel to the left and right along a current steering direction. Particularly, the steering control apparatus comprises: a slip occurrence determination unit for determining whether or not the vehicle has slipped; a steering angle determination unit for, when it is determined that the vehicle has slipped, determining a current steering angle of a steering wheel as a reference steering angle; and a control unit for controlling a driving shaft so that the road wheel may be steered to the left and right within a first angle range on the basis of the reference steering angle.
1. A steering control device comprising:
a slip determination unit determining whether a vehicle slips;
a steering angle determination unit determining a current steering angle of a steering wheel as a reference steering angle if the vehicle is determined to slip; and
a controller controlling a driving shaft to allow a road wheel to steer left or right within a first angular range with respect to the reference steering angle,
wherein, in a steer-by-wire system in which a steering column device including the steering wheel and a steering column and a steering rack device including the road wheel and a rack are not physically connected, the controller controls to allow steering control information about the road wheel not to be fed back to the steering wheel if the driving shaft is controlled to allow the road wheel to steer left or right within the first angular range with respect to the reference steering angle.
2. The steering control device of claim 1 , wherein the first angular range is determined based on at least one of physical information about the vehicle, velocity information about the vehicle, and slope information about a road where the vehicle is traveling.
3. The steering control device of claim 1 , wherein the controller controls the driving shaft to allow the road wheel to steer left or right within the first angular range at a first frequency with respect to the reference steering angle.
4. The steering control device of claim 3 , wherein the first frequency is set to a pre-stored value or is determined according to a pre-stored frequency pattern.
5. The steering control device of claim 1 , wherein the road wheel includes a front road wheel and a rear road wheel, and wherein the controller controls the driving shaft to allow the front road wheel to steer left or right within a second angular range with respect to the reference steering angle and to allow the rear road wheel to steer left or right within a third angular range with respect to the reference steering angle.
6. The steering control device of claim 1 , wherein the slip determination unit determines whether the vehicle slips using at least one of whether a slip occurs in the driving shaft of the vehicle, vehicle information about the vehicle, and slope information about a road where the vehicle is traveling.
7. The steering control device of claim 1 , wherein the steering angle determination unit determines whether the steering angle of the steering wheel is identical to the reference steering angle, and wherein if the steering angle of the steering wheel is determined not to be identical to the reference steering angle, the controller stops controlling the driving shaft to allow the road wheel to steer left or right within the first angular range with respect to the reference steering angle and controls to allow the driving shaft to follow the steering angle of the steering wheel.
8. A steering control method comprising:
a slip determination step determining whether a vehicle slips;
a steering angle determination step determining a current steering angle of a steering wheel as a reference steering angle if the vehicle is determined to slip; and
a control step controlling a driving shaft to allow a road wheel to steer left or right within a first angular range with respect to the reference steering angle,
wherein, in a steer-by-wire system in which a steering column device including the steering wheel and a steering column and a steering rack device including the road wheel and a rack are not physically connected, the control step controls to allow steering control information about the road wheel not to be fed back to the steering wheel when the driving shaft is controlled to allow the road wheel to steer left or right within the first angular range with respect to the reference steering angle.
9. The steering control method of claim 8 , wherein the first angular range is determined based on at least one of physical information about the vehicle, velocity information about the vehicle, and slope information about a road where the vehicle is traveling.
10. The steering control method of claim 8 , wherein the control step controls the driving shaft to allow the road wheel to steer left or right within the first angular range at a first frequency with respect to the reference steering angle.
11. The steering control method of claim 8 , wherein the road wheel includes a front road wheel and a rear road wheel, and wherein the control step controls the driving shaft to allow the front road wheel to steer left or right within a second angular range with respect to the reference steering angle and to allow the rear road wheel to steer left or right within a third angular range with respect to the reference steering angle.
12. The steering control method of claim 8 , wherein the steering angle determination step determines whether the steering angle of the steering wheel is identical to the reference steering angle, and wherein if the steering angle of the steering wheel is determined not to be identical to the reference steering angle, the control step stops controlling the driving shaft to allow the road wheel to steer left or right within the first angular range with respect to the reference steering angle and controls to allow the driving shaft to follow the steering angle of the steering wheel.
13. A steering system comprising:
an input device detecting a steering angle of a steering wheel of a vehicle;
an output device driving a road wheel of the vehicle; and
a controller determining whether the vehicle slips and, if the vehicle is determined to slip, determining a current steering angle of the steering wheel as a reference steering angle and controlling a driving shaft to allow the road wheel to steer left or right within a first angular range with respect to the reference steering angle,
wherein the steering system is a steer-by-wire system in which a steering column device as the input device including the steering wheel and a steering column and a steering rack device as the output device including the road wheel and a rack are not physically connected, and
wherein the controller controls to allow steering control information about the road wheel not to be fed back to the input device if the driving shaft is controlled to allow the road wheel to steer left or right within the first angular range with respect to the reference steering angle.