Steering control apparatus and steering control method
The present disclosure provides a steering control apparatus comprising: a first control unit for controlling a motor to supply a motor torque associated with steering on the basis of a value of a first steering torque; and a second control unit for mutually monitoring operation states with the first control unit via a communication interface and, when an abnormality occurs in the first control unit, controlling the motor, wherein, when the occurrence of an abnormality associated with the operation state of the first control unit is recognized, the second control unit determines whether or not the first control unit or the communication unit is abnormal, on the basis of a value of a second steering torque. According to the present disclosure, a redundant safety mechanism can be implemented without a separate change in a hardware design.
1. A steering control device, comprising:
a sensor unit including a first torque sensor and a second torque sensor each detecting a driver's steering force as a steering torque;
a first controller receiving a value of a first steering torque detected from the first torque sensor and controlling a motor to supply steering-related motor torque based on the value of the first steering torque; and
a second controller mutually monitoring an operational state through a communication interface with the first controller and controlling the motor when an abnormality occurs in the first controller,
wherein when an abnormality related to the operational state of the first controller is determined to occur, the second controller receives a value of a second steering torque detected by the second torque sensor and determines whether the abnormality is an abnormality of the communication interface or the abnormality is an abnormality of the first controller based on a comparison between at least one of a reference value and the value of the second steering torque detected by the second torque sensor.
2. The steering control device of claim 1 , wherein the second controller determines that the abnormality related to the operational state of the first controller occurs when information about the operational state of the first controller is not received or abnormality occurrence information about the operational state of the first controller is received through the communication interface.
3. The steering control device of claim 1 , wherein the motor is a steering motor supplying assist torque based on the driver's steering torque,
wherein the second controller determines that an abnormality occurs in the first controller when the value of the second steering torque detected by the second torque sensor exceeds a first reference value, and
wherein the first reference value is set to a boundary value for a steering torque range when the steering motor is normally controlled.
4. The steering control device of claim 3 , wherein the second controller determines that the abnormality occurs in the communication interface when the value of the second steering torque detected by the second torque sensor is the first reference value or less.
5. The steering control device of claim 1 , wherein if the abnormality is determined to occur in the communication interface, the second controller maintains a standby state and controls to output a notification of the abnormality occurrence in the communication interface.
6. The steering control device of claim 1 , wherein if the abnormality is determined to occur in the first controller, the second controller switches to an active state and controls to output a notification of the abnormality occurrence in the first controller.
7. The steering control device of claim 1 , wherein if the abnormality is determined to occur in either the first controller or the communication interface, the second controller determines to drive a vehicle in a limp home mode.
8. The steering control device of claim 1 , wherein the motor is a reaction force motor supplying a reaction force torque based on the driver's steering torque,
wherein the second controller determines that an abnormality occurs in the first controller when the value of the second steering torque detected by the second torque sensor is a second reference value or less, and
wherein the second reference value is set to a boundary value for a steering torque range when the reaction force motor is normally controlled.
9. The steering control device of claim 8 , wherein the second controller determines that the abnormality occurs in the communication interface when the value of the second steering torque detected by the second torque sensor exceeds the second reference value.
10. A steering control method, comprising:
controlling a motor to supply a steering-related motor torque based on a value of a first steering torque detected from a first torque sensor, by a first controller;
mutually monitoring an operational state through a communication interface by a second controller along with the first controller;
receiving a value of a second steering torque detected by a second torque sensor if an abnormality related to the operational state of the first controller is determined to occur, by the second controller; and
by the second controller, determining whether the abnormality is an abnormality of the communication interface or the abnormality is an abnormality of the first controller based on a comparison between at least one of a reference value and the value of the second steering torque detected by the second torque sensor.
11. The steering control method of claim 10 , wherein receiving the value of the second steering torque detected by the second torque sensor determines that the abnormality related to the operational state of the first controller occurs when information about the operational state of the first controller is not received or abnormality occurrence information about the operational state of the first controller is received through the communication interface.
12. The steering control method of claim 10 , wherein the motor is a steering motor supplying assist torque based on the driver's steering torque,
wherein determining whether the first controller or the communication interface has the abnormality determines that an abnormality occurs in the first controller when the value of the second steering torque detected by the second torque sensor exceeds a first reference value, and
wherein the first reference value is set to a boundary value for a steering torque range when the steering motor is normally controlled.
13. The steering control method of claim 12 , wherein determining whether the first controller or the communication interface has the abnormality determines that the abnormality occurs in the communication interface when the value of the second steering torque detected by the second torque sensor is the first reference value or less.
14. The steering control method of claim 10 , further comprising, if the abnormality is determined to occur in the communication interface, maintaining a standby state of the second controller and controlling to output a notification of the abnormality occurrence in the communication interface.
15. The steering control method of claim 10 , further comprising, if the abnormality is determined to occur in the first controller, switching the second controller to an active state to control the motor and controlling to output a notification of the abnormality occurrence in the first controller.
16. The steering control device of claim 1 , wherein the first torque sensor is connected to only the first controller among the first and second controllers and the second torque sensor is connected to only the second controller among the first and second controllers.
17. The steering control method of claim 10 , wherein the first torque sensor is connected to only the first controller among the first and second controllers and the second torque sensor is connected to only the second controller among the first and second controllers.