Steering control device and method
A steering control device comprises a receiver receiving a motor torque from a motor torque sensor provided in a host vehicle and a controller enabling a steering gear to be driven in a compliance zone, calculating a friction of the steering gear based on the motor torque received by the driving of the steering gear, determining a state of the steering gear based on the calculated friction, and outputting, to a driver, a notification message for the state of the steering gear.
1. A steering control device, comprising:
a controller configured to drive a steering gear in a host vehicle, before the vehicle is steered by the driver, in a compliance zone in which a rack is not moved while the steering gear is driven; and
a receiver configured to receive a compliance zone motor torque of a motor from a motor torque sensor provided in the host vehicle, the compliance zone motor torque being sensed and provided by the motor torque sensor while the steering gear is driven in a compliance zone before the vehicle is steered by the driver; and
wherein the controller is further configured to
estimate rack force based on the compliance zone motor torque,
calculate a friction of the steering gear based on the rack force estimated based on the compliance zone motor torque,
determine a steering gear state based on the calculated friction of the steering gear, and output, to a driver, a notification message for the steering gear state,
wherein the controller is configured to calculate the friction of the steering gear by determining the rack force estimated while the steering gear is driven in a compliance zone as the friction of the steering gear,
wherein the receiver further receives a temperature from a temperature sensor provided in the host vehicle,
wherein, when the calculated friction is equal to or higher than a preset first reference value and the temperature is equal to or lower than a preset minimum temperature for steering gear state determination,
the controller reserves and suspends the steering gear state determination until the temperature rises and exceeds the preset minimum temperature for the steering gear state determination, and
then resumes the steering gear state determination when the temperature rises and exceeds the preset minimum temperature for the steering gear state determination, and determines that the steering gear is damaged when the calculated friction is equal to or higher than the preset first reference value while the temperature is equal to or higher than the preset minimum temperature for the steering gear state determination.
2. The steering control device of claim 1 , wherein the controller determines that the steering gear is worn if the calculated friction is a preset second reference value or less.
3. The steering control device of claim 1 , wherein the controller determines that the steering gear is in a normal state if the calculated friction is less than a preset first reference value and more than a preset second reference value.
4. The steering control device of claim 3 , wherein the controller stores the calculated friction and, if a result of comparison between stored frictions reveals that the friction gradually increases, determines that the steering gear has rust buildup.
5. A steering control method, comprising:
a compliance zone driving step controlling to drive a steering gear in a host vehicle, before the vehicle is steered by the driver, in a compliance zone in which a rack is not moved while the steering gear is driven;
an information reception step receiving a compliance zone motor torque of a motor from a motor torque sensor provided in the host vehicle, the compliance zone motor torque being sensed and provided by the motor torque sensor while the steering gear is driven in a compliance zone before the vehicle is steered by the driver;
a friction calculation step estimating rack force based on the compliance zone motor torque, calculating a friction of the steering gear by determining the rack force estimated based on the compliance zone motor torque as the friction of the steering gear; and
a state determination step determining a steering gear state based on the calculated friction of the steering gear,
wherein the information reception step further receives a temperature from a temperature sensor provided in the host vehicle,
wherein the state determination step comprises: when the calculated friction is equal to or higher than a preset first reference value, and the temperature is equal to or lower than a preset minimum temperature for steering gear state determination,
reserving and suspending the steering gear state determination until the temperature rises and exceeds the preset minimum temperature for the steering gear state determination, and
then resuming the steering gear state determination when the temperature rises and exceeds the preset minimum temperature for the steering gear state determination, and determining that the steering gear is damaged when the calculated friction is equal to or higher than the preset first reference value while the temperature is equal to or higher than the preset minimum temperature for the steering gear state determination.
6. The steering control method of claim 5 , wherein the state determination step determines that the steering gear is worn if the calculated friction is a preset second reference value or less.
7. The steering control method of claim 5 , wherein the state determination step determines that the steering gear is in a normal state if the calculated friction is less than a preset first reference value and more than a preset second reference value.
8. The steering control method of claim 7 , wherein the state determination step stores the calculated friction and, if a result of comparison between stored frictions reveals that the friction gradually increases, determines that the steering gear has rust buildup.
9. The steering control device of claim 1 , wherein the steering gear is configured such that a reaction torque of the motor is transferred to a steering shaft and a steering wheel through the steering gear.