Method and apparatus for controlling electronic power steering system
In the present disclosure, the method and apparatus for controlling an electronic power steering system include estimating a vehicle's rack force value when the vehicle's cumulative driving distance is greater than or equal to a reference driving distance, comparing the estimated rack force value with learning data, increasing the number of friction detections when the estimated rack force value is greater than the learning data, and outputting an alarm when the number of friction detections is greater than or equal to a critical number, and it may be applied to other exemplary embodiments.
1. A method for controlling an electronic steering system, comprising steps of:
estimating a rack force value of a vehicle in response to a cumulative driving distance of the vehicle being greater than or equal to a reference driving distance;
comparing the estimated rack force value with learning data;
increasing a number of friction detections in response to the estimated rack force value being greater than the learning data; and
outputting an alarm in response to the number of friction detections being greater than or equal to a critical number.
2. The method of claim 1 , further comprising a step of:
generating the learning data by checking a driving state of the vehicle in real time or periodically when the cumulative driving distance is less than the reference driving distance.
3. The method of claim 2 , wherein the step of generating the learning data comprises steps of:
estimating the rack force value of the vehicle when the driving state of the vehicle converges to a condition;
calculating an average value of the estimated rack force value; and
generating the learning data by using the calculated average value.
4. The method of claim 3 , further comprising a step of:
checking whether the number of friction detections is stored when the cumulative driving distance is greater than or equal to the reference driving distance.
5. The method of claim 4 , further comprising a step of:
initializing the number of friction detections when the number of friction detections is not stored.
6. The method of claim 5 , wherein the step of increasing the number of friction detections comprises a step of increasing the number of friction detections when the estimated rack force value is greater than the learning data by a critical value or more.
7. The method of claim 6 , wherein the step of estimating a rack force value comprises a step of estimating the rack force value based on a motor current, a torque value and a steering speed when the driving state of the vehicle converges to the condition.
8. The method of claim 7 , wherein the condition includes the curvature of a road on which the vehicle is traveling and the driving speed of the vehicle, which are checked based on the steering speed, a steering angle and a steering torque of the vehicle.
9. An apparatus for controlling an electronic steering system, comprising:
at least one sensor for acquiring sensing data for a driving state of a vehicle in motion; and
a controller configured to estimate a rack force value based on the acquired sensing data in response to a cumulative driving distance of the vehicle being greater than or equal to a reference driving distance, to compare the estimated rack force value to learning data, and to output an alarm by checking whether a number of friction detections is greater than or equal to a critical number in response to the estimated rack force value being greater than the learning data.
10. The apparatus of claim 9 , wherein the controller generates the learning data by checking the driving state of the vehicle in real time or periodically when the cumulative driving distance is less than the reference driving distance.
11. The apparatus of claim 10 , wherein the controller estimates the rack force value of the vehicle when the driving state converges to a condition and generates the learning data as an average value of the rack force value of the vehicle.
12. The apparatus of claim 11 , wherein the controller checks whether the number of friction detections is stored when the cumulative driving distance is greater than or equal to the reference driving distance.
13. The apparatus of claim 12 , wherein the controller initializes the number of friction detections when the number of friction detections is not stored.
14. The apparatus of claim 13 , wherein the controller increases the number of friction detections when the estimated rack force value is greater than the learning data by a critical value or more.
15. The apparatus of claim 14 , wherein the controller estimates the rack force value based on a motor current, a torque value and a steering speed when the driving state of the vehicle converges to the condition.