Steering control device and method
The embodiments relate to a steering control device and method. Specifically, a steering control device according to an embodiment may include a receiver configured to receive vehicle driving information of a host vehicle from a plurality of sensors, a straight-driving determiner configured to determine whether the host vehicle travels in a straight line based on the vehicle driving information, and determine a straight travel time, a short-term storage configured to store a first summation value obtained by summing rack positions received every predetermined period, a long-term storage configured to store a first average value of the first summation values stored in the short-team storage, and a determiner configured to determine a standard error of a rack position based on the first average value, and determine a rack position offset of the host vehicle if the standard error is less than a reference value.
1 . A steering control device comprising:
a receiver configured to receive vehicle driving information of a host vehicle from a plurality of sensors;
a straight-driving determiner configured to determine whether the host vehicle travels in a straight line based on the vehicle driving information, and determine a straight travel time when determined that the host vehicle travels in the straight line;
a short-term storage configured to store a first summation value obtained by summing rack positions received every predetermined period;
a long-term storage configured to store a first average value of the first summation values stored in the short-term storage; and
a determiner configured to determine a standard error of a rack position based on the first average value, and determine a rack position offset of the host vehicle if the standard error is less than a reference value.
2 . The steering control device of claim 1 , wherein the long-term storage increases a long-term storing number if the first average value is stored, and the determiner determines the rack position offset if the long-term storing number is greater than or equal to a maximum storing number.
3 . The steering control device of claim 2 , wherein the long-term storage sums the first average value and stores a second summation value if the long-term storing number is less than or equal to a minimum storing number.
4 . The steering control device of claim 3 , wherein the determiner determines a second average value by dividing the second summation value by the long-term storing number, and determines the second average value as the rack position offset.
5 . The steering control device of claim 1 , wherein the short-term storage increases a short-term storing number when storing the first summation value, and the first average value is determined by dividing the first summation value by the short-term storing number.
6 . The steering control device of claim 1 , wherein the short-term storage stores the first summation value if determined that the host vehicle travels in the straight line and the straight travel time is greater than a storage reference time.
7 . The steering control device of claim 6 , wherein the storage reference time is set including a specific period.
8 . The steering control device of claim 1 , wherein the long-term storage stores the first average value if determined that the host vehicle has finished the travel in the straight line.
9 . A steering control method comprising:
receiving vehicle driving information of a host vehicle from a plurality of sensors;
determining whether the host vehicle travels in a straight line based on the vehicle driving information, and determining a straight travel time when determined that the host vehicle travels in the straight line;
storing a first summation value obtained by summing rack positions received every predetermined period;
storing a first average value of the first summation values stored; and
determining a standard error of a rack position based on the first average value, and determining a rack position offset of the host vehicle if the standard error is less than a reference value.
10 . The steering control method of claim 9 , wherein the storing a first average value comprises increasing a long-term storing number if the first average value is stored, and the determining a rack position comprises determining the rack position offset if the long-term storing number is greater than or equal to a maximum storing number.
11 . The steering control method of claim 10 , wherein the storing a first average value comprises summing the first average value and storing a second summation value if the long-term storing number is less than or equal to a minimum storing number.
12 . The steering control method of claim 11 , wherein the determining a rack position comprises determining a second average value by dividing the second summation value by the long-term storing number, and determining the second average value as the rack position offset.
13 . The steering control method of claim 9 , wherein the storing a first summation value comprises increasing a short-term storing number when storing the first summation value, and the first average value is determined by dividing the first summation value by the short-term storing number.
14 . The steering control method of claim 9 , wherein the storing a first summation value comprises storing the first summation value if determined that the host vehicle travels in the straight line and the straight travel time is greater than a storage reference time.
15 . The steering control method of claim 14 , wherein the storage reference time is set including a specific period.
16 . The steering control method of claim 9 , wherein the storing a first average value comprises storing the first average value if determined that the host vehicle has finished the travel in the straight line.