Steering control method and steering control device
The steering control method and steering control device may reduce memory usage by calculating virtual end stop torque without using a lookup table and address the noise issue at a discontinuous point. Further, it is possible to determine whether the end stop start angle needs to be adjusted because the wheel touches the curb, and adjust the end stop start angle to protect the steering wheel and the system.
1. A steering control device, comprising:
a receiving step of receiving steering angle information from a steering angle sensor; and
a control step of controlling an output of a reaction force motor based on a virtual end stop torque upon determining that a preset end stop start angle is reached based on the steering angle information,
wherein the virtual end stop torque is calculated by adding a virtual spring torque and a virtual damper torque calculated based on the virtual spring torque, and
wherein the virtual spring torque is calculated by a normalized angle calculated based on the steering angle information.
2. The steering control method of claim 1 , wherein the control step calculates the normalized angle based on the steering angle information and the end stop start angle and a preset change angle range.
3. The steering control method of claim 1 , wherein the control step calculates the virtual spring torque based on the normalized angle and a preset maximum spring torque.
4. The steering control method of claim 3 , wherein the virtual spring torque is calculated based on a second or higher-order differentiable equation, and
wherein the equation meets preset initial and final conditions.
5. The steering control method of claim 1 , wherein the control step calculates the virtual damper torque using the normalized angle, the spring torque, a steering angular velocity, and a preset damping ratio.
6. The steering control method of claim 1 , further comprising a curb determining step of determining whether the end stop start angle needs to be adjusted as a wheel touches a curb after the receiving step.
7. The steering control method of claim 6 , wherein the receiving step further receives rack position information and rack force information, and
wherein the curb determining step determines whether a condition for changing the preset end stop start angle is met based on the steering angle information, the rack position information, and the rack force information and, if the change condition is met, changes the preset end stop start angle based on the steering angle information.
8. The steering control method of claim 7 , wherein the curb determining step determines whether a condition for releasing the changed end stop start angle is met based on the rack position information and the rack force information received after the end stop start angle is changed and, if the release condition is met, returns the changed end stop start angle to the preset end stop start angle.
9. The steering control method of claim 8 , wherein the curb determining step maintains the changed end stop start angle if the release condition is not met.
10. The steering control method of claim 7 , wherein the curb determining step changes an end stop end angle based on a preset end stop angle range if the preset end stop start angle is changed.
11. A steering control device, comprising:
a receiver receiving steering angle information from a steering angle sensor; and
a controller controlling an output of a reaction force motor based on a virtual end stop torque upon determining that a preset end stop start angle is reached based on the steering angle information,
wherein the virtual end stop torque is calculated by adding a virtual spring torque and a virtual damper torque calculated based on the virtual spring torque, and
wherein the virtual spring torque is calculated by a normalized angle calculated based on the steering angle information.
12. The steering control device of claim 11 , wherein the controller calculates the normalized angle based on the steering angle information and the end stop start angle and a preset change angle range.
13. The steering control device of claim 11 , wherein the controller calculates the virtual spring torque based on the normalized angle and a maximum spring torque.
14. The steering control device of claim 13 , wherein the virtual spring torque is calculated based on a second or higher-order differentiable equation, and
wherein the equation meets preset initial and final conditions.
15. The steering control device of claim 11 , wherein the controller calculates the virtual damper torque using the normalized angle, the spring torque, a steering angular velocity, and a preset damping ratio.
16. The steering control device of claim 11 , further comprising a curb determiner determining whether the end stop start angle needs to be adjusted as a wheel touches a curb.
17. The steering control device of claim 16 , wherein the receiver further receives rack position information and rack force information, and
wherein the curb determiner determines whether a condition for changing the preset end stop start angle is met based on the steering angle information, the rack position information, and the rack force information and, if the change condition is met, changes the preset end stop start angle based on the steering angle information.
18. The steering control device of claim 17 , wherein the curb determiner determines whether a condition for releasing the changed end stop start angle is met based on the rack position information and the rack force information received after the end stop start angle is changed and, if the release condition is met, returns the changed end stop start angle to the preset end stop start angle.
19. The steering control device of claim 18 , wherein the curb determiner maintains the changed end stop start angle if the release condition is not met.
20. The steering control device of claim 17 , wherein the curb determiner changes an end stop end angle based on a preset end stop angle range if the preset end stop start angle is changed.