Steering control device and method
The embodiment relates to a steering control device. Specifically, a steering control device comprises a micro controller unit (MCU) receiving data from a sensor, processing the data to produce a first processing result, and outputting a first control signal for steering a vehicle to an actuator based on the first processing result and a hardware logic gate receiving data from the sensor, processing the data to produce a second processing result, and outputting a second control signal for determining whether to operate the actuator to the actuator based on the second processing result.
1. A steering control device, comprising:
two micro controller units (MCUs) of the same type, each micro controller unit (MCU) receiving data from a sensor, processing the data to produce a first processing result, and outputting a first control signal for steering a vehicle to an actuator based on the first processing result;
two hardware logic gates of the same type, each hardware logic gate receiving data from the sensor, processing the data to produce a second processing result, and outputting a second control signal for determining whether to operate the actuator to the actuator based on the second processing result; and
an actuator including a motor and a sensor and driven to steer the vehicle based on at least one of the first control signal and the second control signal,
wherein the second control signal is a signal for disabling the motor but not disabling the sensor if the vehicle is able to avoid danger simply by disabling the motor.
2. The steering control device of claim 1 , wherein the hardware logic gate includes at least one of a field programmable gate array (FPGA), a complex programmable logic device (CPLD), or a generic array logic (GAL).
3. The steering control device of claim 1 , wherein upon receiving a trigger signal from the MCU, the hardware logic gate processes the data to produce the second processing result.
4. The steering control device of claim 3 , wherein the trigger signal is transmitted to the hardware logic gate after the first processing result is produced.
5. The steering control device of claim 1 , wherein the hardware logic gate outputs the second control signal for disabling the actuator when the actuator need not be operated according to the second processing result.
6. The steering control device of claim 1 , wherein the hardware logic gate receives the first processing result and compares the first processing result and the second processing result to output the second control signal.
7. The steering control device of claim 6 , wherein the hardware logic gate outputs the second control signal for disabling the actuator if the first processing result differs from the second processing result.
8. A steering control method, comprising:
a data processing step in which each micro controller unit (MCU) among two micro controller units (MCUs) of the same type and each hardware logic gate among two hardware logic gates of the same type receives data from a sensor and processes the data to produce a first processing result and a second processing result;
a control signal output step in which the MCU outputs a first control signal for steering a vehicle to an actuator based on the first processing result, and the hardware logic gate outputs a second control signal for determining whether to operate the actuator to the actuator based on the second processing result; and
an actuator driving step of driving an actuator which includes a motor and a sensor and is driven to steer the vehicle based on at least one of the first control signal and the second control signal,
wherein the second control signal is a signal for disabling the motor but not disabling the sensor if the vehicle is able to avoid danger simply by disabling the motor.
9. The steering control method of claim 8 , wherein the hardware logic gate includes at least one of a field programmable gate array (FPGA), a complex programmable logic device (CPLD), or a generic array logic (GAL).
10. The steering control method of claim 8 , wherein in the data processing step, upon receiving a trigger signal from the MCU, the hardware logic gate processes the data to produce the second processing result.
11. The steering control method of claim 10 , wherein the trigger signal is transmitted to the hardware logic gate after the first processing result is produced.
12. The steering control method of claim 8 , wherein the control signal output step outputs the second control signal for disabling the actuator when the actuator need not be operated according to the second processing result.
13. The steering control method of claim 8 , wherein in the control signal output step, the hardware logic gate receives the first processing result and compares the first processing result and the second processing result to output the second control signal.
14. The steering control method of claim 13 , wherein the control signal output step outputs the second control signal for disabling the actuator if the first processing result differs from the second processing result.