Steering control device and method
The embodiments relates to a steering control device and method. Specifically, a steering control device according to the embodiments may include a first steering control module receiving a steering angle of a steering wheel from a steering angle sensor, calculating a position of a rack corresponding to the steering angle, and transmitting the position of the rack to a road wheel actuator (RWA) and a second steering control module to which a control right for the first steering control module is transferred when the first steering control module is determined to have a failure.
1. A steering control device, comprising:
a first steering control module receiving a steering angle of a steering wheel from a steering angle sensor, calculating a position of a rack corresponding to the steering angle, and transmitting the position of the rack to a road wheel actuator (RWA); and
a second steering control module to which a control right for the first steering control module is transferred when the first steering control module is determined to have a failure,
wherein the first steering control module receives, in an autonomous vehicle mode, vehicle ambient information from a plurality of sensors and calculates the position of the rack according to an ambient context of a host vehicle based on the vehicle ambient information and, in a driving mode, receives the steering angle from the steering angle sensor and calculates the position of the rack corresponding to the steering angle.
2. The steering control device of claim 1 , wherein the first steering control module outputs an alarm as to whether to switch to the driver mode upon failing to receive the vehicle ambient information in the autonomous vehicle mode.
3. The steering control device of claim 2 , wherein the first steering control module transfers the control right to the second steering control module upon receiving an indication that it is impossible to switch to the driver mode.
4. The steering control device of claim 3 , wherein the second steering control module calculates the position of the rack to perform a minimal risk condition (MRC) upon determining that it is difficult to maintain the autonomous vehicle mode.
5. The steering control device of claim 1 , wherein the first steering control module outputs an alarm as to whether to switch to the autonomous vehicle mode upon failing to detect a current supplied to a reaction force motor in the driver mode.
6. The steering control device of claim 5 , wherein the first steering control module switches to the autonomous vehicle mode upon receiving an indication that it is impossible to maintain the driver mode.
7. The steering control device of claim 6 , wherein the first steering control module calculates the position of the rack to perform an MRC upon failing to receive the vehicle ambient information.
8. The steering control device of claim 1 , wherein the first steering control module switches the driver mode to the autonomous vehicle mode upon failing to receive the steering angle in the driver mode.
9. A steering control method, comprising:
a driving mode determination step determining a driving mode in which a host vehicle is driving;
a rack position calculation step receiving a steering angle of a steering wheel from a steering angle sensor to calculate a position of a rack corresponding to the steering angle when the host vehicle is driving in a driver mode and, when the host vehicle is driving in an autonomous vehicle mode, receiving vehicle ambient information from a plurality of sensors to calculate the position of the rack according to an ambient context of the host vehicle based on the vehicle ambient information and, upon determining that a first steering control module calculating the position of the rack has a failure, transferring a control right for the first steering control module to a second steering control module; and
a rack position transmission step transmitting the calculated position of the rack to a road wheel actuator (RWA).
10. The steering control method of claim 9 , wherein the rack position calculation step outputs an alarm as to whether to switch to the driver mode upon failing to receive the vehicle ambient information in the autonomous vehicle mode.
11. The steering control method of claim 10 , wherein the rack position calculation step transfers the control right to the second steering control module upon receiving an indication that it is impossible to switch to the driver mode.
12. The steering control method of claim 11 , wherein the rack position calculation step calculates the position of the rack to perform a minimal risk condition (MRC) upon determining that it is difficult to maintain the autonomous vehicle mode.
13. The steering control method of claim 9 , wherein the rack position calculation step outputs an alarm as to whether to switch to the autonomous vehicle mode upon failing to detect a current flowing to a reaction force motor in the driver mode.
14. The steering control method of claim 13 , wherein the rack position calculation step switches to the autonomous vehicle mode upon receiving an indication that it is impossible to maintain the driver mode.
15. The steering control method of claim 14 , wherein the rack position calculation step calculates the position of the rack to perform an MRC upon failing to receive the vehicle ambient information.
16. The steering control method of claim 9 , wherein the first steering control module switches the driver mode to the autonomous vehicle mode upon failing to receive the steering angle in the driver mode.