Steering control device and method for vehicle
The present embodiments relates to a steering control device and method of a vehicle and may provide a steering control device and method for a vehicle, which may secure stably steered driving by controlling the output of the steering motor by changing the average steering ratio when the driver causes urgent steering in a failure situation and adjusting the rack stroke and rack speed.
1. A steering control device of a vehicle, comprising:
a condition determining unit determining a steering ratio change condition by determining whether a failure or emergency steering occurs in a steering motor or steering motor control device of the vehicle equipped with a steer-by-wire system;
a steering ratio change unit changing an average steering ratio using a preset virtual C-factor when the steering ratio change condition is determined to be met; and
a controller controlling a steering motor output to adjust a rack stroke and a rack speed based on the changed average steering ratio,
wherein the controller controls to repeatedly generate the steering motor output with different values at a preset period by applying the changed average steering ratio, and
wherein one of the different values is set to 0% of the steering motor output, and another of the different values is set to 100% of the steering motor output.
2. The steering control device of claim 1 , wherein the condition determining unit determines that the failure occurs if a failure occurrence signal is detected and determines that the emergency steering occurs if a target rack stroke is larger than a preset reference rack stroke, and determines that the steering ratio change condition is met when the failure and the emergency steering occur.
3. The steering control device of claim 2 , wherein the reference rack stroke is a rack stroke corresponding to a specific rack force set in proportion to a rack force at two opposite ends of a rack.
4. The steering control device of claim 1 , wherein the steering ratio changing unit changes the average steering ratio using the virtual C-factor set to a value less than 1 if the steering ratio change condition is determined to be met, and wherein the average steering ratio is a ratio of a steering angle to an angular displacement calculated from rotation angle information about the steering motor at two opposite ends of a steering wheel.
5. The steering control device of claim 1 , wherein the controller controls to decrease the rack speed moving to two opposite ends of the rack stroke by applying the changed average steering ratio.
6. The steering control device of claim 1 , wherein the rack stroke is increased as the steering motor output is repeatedly generated.
7. A steering control method of a vehicle, comprising:
a condition determining step determining a steering ratio change condition by determining whether a failure or emergency steering occurs in a steering motor or steering motor control device of the vehicle equipped with a steer-by-wire system;
a steering ratio change step changing an average steering ratio using a preset virtual C-factor when the steering ratio change condition is determined to be met; and
a control step controlling a steering motor output to adjust and adjusting a rack stroke and a rack speed based on the changed average steering ratio,
wherein the control step controls to repeatedly generate the steering motor output with different values at a preset period by applying the changed average steering ratio, and
wherein one of the different values is set to 0% of the steering motor output, and another of the different values is set to 100% of the steering motor output.
8. The steering control method of claim 7 , wherein the control step controls to decrease the rack speed moving to two opposite ends of the rack stroke by applying the changed average steering ratio.
9. The steering control method of claim 7 , wherein the condition determining step determines that the failure occurs if a failure occurrence signal is detected and determines that the emergency steering occurs if a target rack stroke is larger than a preset reference rack stroke, and determines that the steering ratio change condition is met when the failure and the emergency steering occur.
10. The steering control method of claim 9 , wherein the reference rack stroke is a rack stroke corresponding to a specific rack force set in proportion to a rack force at two opposite ends of a rack.
11. The steering control method of claim 7 , wherein the steering ratio change step changes the average steering ratio using the virtual C-factor set to a value less than 1 if the steering ratio change condition is determined to be met, and wherein the average steering ratio is a ratio of a steering angle to an angular displacement calculated from rotation angle information about the steering motor at two opposite ends of a steering wheel.
12. The steering control method of claim 7 , wherein the rack stroke is increased as the steering motor output is repeatedly generated.