Steer-by-wire apparatus of host vehicle and control method thereof
The present disclosure provides a steer-by-wire system, including a reaction force motor for providing a reaction force in a direction opposite to the direction of operation of a steering wheel; a torque sensor for detecting a rotational angle of the steering wheel according to manipulation of the steering wheel; a motor position sensor for detecting a rotation angle of the motor; a turn counter for detecting the number of rotations of the reaction force motor; and a controller for calculating a first steering angle based on the rotation angle and number of rotations of the reaction force motor.
1. A steer-by-wire apparatus of a host vehicle, the apparatus comprising:
a first motor configured to provide a reaction force in a direction opposite to the direction of operation of a steering wheel;
a first sensor configured to detect a rotational angle of the steering wheel according to manipulation of the steering wheel;
a second sensor configured to detect a rotation angle of the first motor;
a counter configured to detect the number of rotations of the first motor; and
a controller connected to the first sensor, the second sensor and the counter, and configured to calculate a first steering angle based on the rotation angle and number of rotations of the first motor,
wherein the controller is configured to determine whether the first sensor is faulty, and calculate the first steering angle based on the fact that the first sensor is faulty.
2. The steer-by-wire apparatus of claim 1 , wherein the controller is configured to control a second motor based on the first steering angle.
3. The steer-by-wire apparatus of claim 1 , wherein the controller is configured to calculate the first steering angle by multiplying the rotation angle of the first motor by the gear ratio of the first motor.
4. The steer-by-wire apparatus of claim 1 , wherein the controller is configured to calculate an absolute angle that becomes a reference for the rotation angle of the first motor based on the number of rotations of the first motor.
5. The steer-by-wire apparatus of claim 4 , wherein the controller is configured to calculate the first steering angle by aligning the rotation angle of the first motor based on the absolute angle.
6. The steer-by-wire apparatus of claim 1 , wherein the controller is configured to calculate a second steering angle based on the rotation angle of the steering wheel and the number of rotations of the first motor based on the fact that the first sensor is normal.
7. The steer-by-wire apparatus of claim 6 , wherein the controller is configured to calculate an absolute angle that becomes a reference for the rotation angle of the steering wheel based on the number of rotations of the first motor.
8. The steer-by-wire apparatus of claim 7 , wherein the controller is configured to calculate the second steering angle by aligning the rotational angle of the steering wheel based on the absolute angle.
9. The steer-by-wire apparatus of claim 6 , wherein the controller is configured to calculate the first steering angle based on the fact that the first sensor is normal.
10. The steer-by-wire apparatus of claim 9 , wherein the controller is configured to calculate an offset angle which is a difference between the first steering angle and the second steering angle.
11. The steer-by-wire apparatus of claim 10 , wherein the controller is configured to correct the first steering angle by using the offset angle before the failure of the first sensor.
12. The steer-by-wire apparatus of claim 6 , wherein the first sensor comprises a first torque sensor and a second torque sensor.
13. The steer-by-wire apparatus of claim 12 , wherein based on the fact that any one of the first torque sensor and the second torque sensor is faulty, the controller is configured to calculate the second steering angle based on the rotation angle of the steering wheel detected by the remaining other one thereof.
14. The steer-by-wire apparatus of claim 12 , wherein the controller is configured to calculate the first steering angle based on the fact that both of the first torque sensor and the second torque sensor are faulty.
15. A method for controlling a steer-by-wire apparatus of a host vehicle, which is a control method of a steer-by-wire apparatus of a host vehicle comprising a first motor for providing a reaction force in a direction opposite to the direction of operation of a steering wheel, the method comprising:
detecting, by a first sensor, a rotation angle of the steering wheel according to manipulation of the steering wheel;
detecting, by a second sensor, a rotation angle of the first motor;
detecting, by a counter, the number of rotations of the first motor;
determining whether the first sensor is faulty;
calculating a first steering angle based on the rotation angle and number of rotations of the first motor based on the fact that the first sensor is faulty; and
controlling a second motor based on the first steering angle.
16. The method of claim 15 , further comprising:
calculating the first steering angle based on the fact that the first sensor is faulty, and calculating a second steering angle based on the rotation angle of the steering wheel and the number of rotations of the first motor; and
calculating an offset angle which is a difference between the first steering angle and the second steering angle.
17. The method of claim 16 , further comprising:
correcting the first steering angle by using the offset angle before the failure of the first sensor.