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KR100968066B1 - Offset compensation control methode of steering angle sensor in active front steering system - Google Patents

Offset compensation control methode of steering angle sensor in active front steering system Download PDF

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Publication number
KR100968066B1
KR100968066B1 KR1020050023657A KR20050023657A KR100968066B1 KR 100968066 B1 KR100968066 B1 KR 100968066B1 KR 1020050023657 A KR1020050023657 A KR 1020050023657A KR 20050023657 A KR20050023657 A KR 20050023657A KR 100968066 B1 KR100968066 B1 KR 100968066B1
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South Korea
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angle sensor
steering
vehicle
gear ratio
absolute
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KR1020050023657A
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Korean (ko)
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KR20060101975A (en
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김성주
진종학
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주식회사 만도
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F13/00—Coverings or linings, e.g. for walls or ceilings
    • E04F13/07—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor
    • E04F13/08—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor composed of a plurality of similar covering or lining elements
    • E04F13/0801—Separate fastening elements
    • E04F13/0832—Separate fastening elements without load-supporting elongated furring elements between wall and covering elements
    • E04F13/0833—Separate fastening elements without load-supporting elongated furring elements between wall and covering elements not adjustable
    • E04F13/0835—Separate fastening elements without load-supporting elongated furring elements between wall and covering elements not adjustable the fastening elements extending into the back side of the covering elements
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F13/00—Coverings or linings, e.g. for walls or ceilings
    • E04F13/07—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor
    • E04F13/08—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor composed of a plurality of similar covering or lining elements
    • E04F13/14—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor composed of a plurality of similar covering or lining elements stone or stone-like materials, e.g. ceramics concrete; of glass or with an outer layer of stone or stone-like materials or glass
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
    • E04F13/00—Coverings or linings, e.g. for walls or ceilings
    • E04F13/07—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor
    • E04F13/08—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor composed of a plurality of similar covering or lining elements
    • E04F13/14—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor composed of a plurality of similar covering or lining elements stone or stone-like materials, e.g. ceramics concrete; of glass or with an outer layer of stone or stone-like materials or glass
    • E04F13/15—Coverings or linings, e.g. for walls or ceilings composed of covering or lining elements; Sub-structures therefor; Fastening means therefor composed of a plurality of similar covering or lining elements stone or stone-like materials, e.g. ceramics concrete; of glass or with an outer layer of stone or stone-like materials or glass characterised by the use of glass elements, i.e. wherein an outer layer is not of glass

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

본 발명은 AFS 시스템에서의 조향각 센서의 오프셋 보상제어방법에 관한 것으로, 입력 조향각 센서를 절대각 센서로 사용하고, 모터 위치 센서 또는 출력 조향각 센서를 상대각 센서로 사용하는 AFS 시스템에 있어서, 차량 타이어의 휠속 정보로부터 차량이 직진주행 상태인 경우에 절대각 센서를 사용하는 입력 조향각 센서의 오프셋량을 감지하고, 이 오프셋량만큼 상기 입력 조향각 센서 및 상대각 센서의 출력값을 보상해 줌으로써 운전자에게 이질감을 주지 않고 안전한 조향감을 제공할 수 있게 되는 효과가 있다.The present invention relates to a method for offset compensation control of a steering angle sensor in an AFS system, comprising: a vehicle tire in an AFS system using an input steering angle sensor as an absolute angle sensor and a motor position sensor or an output steering angle sensor as a relative angle sensor. When the vehicle is in a straight driving state, the offset amount of the input steering angle sensor using the absolute angle sensor is sensed from the information on the wheel, and the output value of the input steering angle sensor and the relative angle sensor is compensated by this offset amount to sense a heterogeneity to the driver. There is an effect that can provide a safe steering without giving.

AFS, 조향각 센서, 절대각 센서, 상대각 센서, 오프셋 보상 AFS, steering angle sensor, absolute angle sensor, relative angle sensor, offset compensation

Description

능동 전륜 조향 시스템에서의 조향각 센서의 오프셋 보상제어방법{OFFSET COMPENSATION CONTROL METHODE OF STEERING ANGLE SENSOR IN ACTIVE FRONT STEERING SYSTEM}OFFSET COMPENSATION CONTROL METHODE OF STEERING ANGLE SENSOR IN ACTIVE FRONT STEERING SYSTEM}

도 1은 차량의 조향 시스템에 적용된 종래 AFS 시스템의 구성도.1 is a block diagram of a conventional AFS system applied to a steering system of a vehicle.

도 2는 본 발명에 따른 AFS 시스템에서의 조향각 센서의 오프셋 보상제어방법을 보인 동작 흐름도.2 is a flowchart illustrating an offset compensation control method of a steering angle sensor in an AFS system according to the present invention;

<도면의 주요부분에 대한 부호의 설명><Description of the symbols for the main parts of the drawings>

1 : 조향핸들 2 : 조향칼럼1: steering wheel 2: steering column

3 : 입력 조향각 센서 4 : ECU3: input steering angle sensor 4: ECU

5 : 능동 조향 메카니즘 6 : 조향 액츄에이터5: Active Steering Mechanism 6: Steering Actuator

7 : 출력 조향각 센서7: output steering angle sensor

본 발명은 능동 전륜 조향(Active Front Steering : 이하, 'AFS'라 칭함) 시스템에서의 조향각 센서의 오프셋(Offset) 보상제어방법에 관한 것으로, 특히 AFS 시스템에서 차량 타이어의 휠(Wheel) 속도 정보로부터 차량이 직진주행 상태인 경 우에 절대각 센서를 사용하는 입력 조향각 센서의 오프셋량을 감지하고, 이 오프셋량만큼 상기 입력 조향각 센서 및 상대각 센서의 출력값을 보상해 줌으로써 운전자에게 이질감을 주지 않고 안전한 조향감을 제공할 수 있도록 한 AFS 시스템에서의 조향각 센서의 오프셋 보상제어방법에 관한 것이다.BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an offset compensation control method of a steering angle sensor in an active front steering (hereinafter referred to as 'AFS') system, and in particular, from wheel speed information of a vehicle tire in an AFS system. When the vehicle is in a straight driving state, it detects the offset amount of the input steering angle sensor using the absolute angle sensor and compensates the output values of the input steering angle sensor and the relative angle sensor by this offset amount, so that the driver does not feel heterogeneous and safe steering. The present invention relates to an offset compensation control method of a steering angle sensor in an AFS system to provide a sense.

일반적으로 차량에 적용되는, 전자제어장치(Electronic Control Unit ; 이하, 'ECU'라 칭함)를 이용하여 차량의 속도에 따라 운전자 핸들의 조작력을 줄여주어 가볍고 신속한 조향조작이 가능하도록 한 조향 시스템은, 기존의 유압식 파워 조향 시스템에 유압을 조정하는 전자제어밸브가 추가되어 어시스트량을 조절하는 전자제어 파워 조향(Electronic Power Steering) 시스템과 순수한 모터의 구동에 의해 어시스트량을 조절하는 전동식 파워 조향(Electric Power Steering ; 이하, 'EPS'라 칭함) 시스템으로 구분된다.The steering system, which is generally applied to a vehicle, uses an electronic control unit (hereinafter referred to as “ECU”) to reduce the driving force of the driver's steering wheel according to the speed of the vehicle to enable light and quick steering operation. An electric control valve for adjusting hydraulic pressure is added to the existing hydraulic power steering system, and an electronic power steering system for adjusting assist amount and an electric power steering for controlling assist amount by pure motor driving. Steering; hereafter referred to as 'EPS').

종래에는 상기와 같은 조향 시스템을 장착한 차량에 있어서, 운전자 핸들과 조향 액츄에이터 사이에 조향 기어비 가변기구를 구비시켜, 이 조향 기어비 가변기구의 작동을 통해 운전자 핸들의 조향입력에 대한 출력각도를 가변시켜 줌으로써 차량의 거동을 보다 안정화시킬 수 있도록 한 AFS 시스템이 적용되고 있다.Conventionally, in a vehicle equipped with such a steering system, a steering gear ratio variable mechanism is provided between the driver handle and the steering actuator, and the output angle to the steering input of the driver handle is varied by operating the steering gear ratio variable mechanism. The AFS system has been applied to make the vehicle more stable by zooming.

즉, 도 1은 차량의 조향 시스템에 적용된 종래 AFS 시스템의 구성도로서, 조향칼럼(2)에 결합된 조향핸들(1), 입력축의 조향 입력각을 검출하는 입력 조향각 센서(3), AFS 시스템의 전반적인 동작 제어를 위한 ECU(4), 조향기어 또는 조향칼럼(2)에 장착되고 조향 기어비 가변기구와 AFS 모터 및 모터 위치 센서로 이루어져 조향 기어비를 가변하기 위한 능동 조향 메카니즘(Active Steering Mecanism)(5), EPS 모터로 이루어져 EPS 시스템의 조향 어시스트를 위한 조타 보조력을 생성하는 조향 액츄에이터(Steering Actuator)(6), 출력축의 조향 출력각을 검출하는 출력 조향각 센서(7)로 구성되어 있으며, 상기 ECU(4)에서 입력 조향각, 차속, 횡가속도, 요 레이트(Yaw Rate) 등의 차량 상태정보를 입력받아 차량 상태에 대한 적정한 조향 기어비를 연산 및 설정하고, 이 설정된 조향 기어비에 따른 제어신호를 출력하여 능동 조향 메카니즘(5)을 구동시킴으로써 최적의 전륜 조향각 보상 제어를 수행한다.That is, FIG. 1 is a configuration diagram of a conventional AFS system applied to a vehicle steering system, a steering wheel 1 coupled to a steering column 2, an input steering angle sensor 3 for detecting a steering input angle of an input shaft, and an AFS system. Active Steering Mecanism mounted on the ECU (4), steering gear or steering column (2) for overall motion control of the steering wheel and consisting of a steering gear ratio variable mechanism, an AFS motor and a motor position sensor. 5), a steering actuator (6) consisting of an EPS motor to generate steering assistance for steering assistance of the EPS system, and an output steering angle sensor (7) for detecting steering output angle of the output shaft. The ECU 4 receives vehicle state information such as input steering angle, vehicle speed, lateral acceleration, yaw rate, etc., and calculates and sets an appropriate steering gear ratio for the vehicle state. Driving the active steering mechanism (5) outputs a control signal corresponding to the steering angle of the front wheels thereby to perform the optimum control compensation.

이때, 상기 능동 조향 메카니즘(5)내 조향 기어비 가변기구는 선기어와 링기어 및 캐리어 등으로 이루어진 유성기어 세트로 구성된다.At this time, the steering gear ratio variable mechanism in the active steering mechanism 5 is composed of a planetary gear set consisting of a sun gear, a ring gear and a carrier.

상기와 같이 구성된 AFS 시스템에서는 상기 입력 조향각 센서(3)로 절대각 센서를 사용하여 상기 절대각 센서에 의거해 조향 기어비의 가변 제어를 수행한다.In the AFS system configured as described above, the input steering angle sensor 3 uses the absolute angle sensor to perform variable control of the steering gear ratio based on the absolute angle sensor.

즉, 상기 ECU(4)에서 차속을 입력받아 차속별 목표 조향 기어비의 설정 맵을 통해 해당 차속에 따른 목표 조향 기어비를 설정하고, 이 설정된 조향 기어비와 입력각으로부터 출력각을 연산하며, 이 연산된 출력각을 추종할 수 있도록 AFS 모터의 위치제어를 수행하는 것이다.That is, the vehicle 4 receives the vehicle speed, sets a target steering gear ratio according to the vehicle speed through a setting map of the target steering gear ratio for each vehicle speed, calculates an output angle from the set steering gear ratio and the input angle, and calculates the output angle. Position control of the AFS motor is performed to follow the output angle.

한편, 종래에는 상기 절대각 센서의 출력값이 일정량의 오프셋을 가지고 있다면, 출력축은 타이어의 정렬에 의해 0deg의 전륜각을 가지며 진행하지만, 오프셋이 있는 센서인 경우라면 오프셋량만큼 틀어진 채로 직진주행을 하게 된다.On the other hand, conventionally, if the output value of the absolute angle sensor has a certain amount of offset, the output shaft proceeds with a front wheel angle of 0deg by the alignment of the tire, but if the sensor has an offset, go straight ahead with the offset amount do.

또한, 절대각 신호 정보를 토대로 상대각 센서의 신호로부터 절대각을 연산하는 경우에도, 감속비와 오프셋을 곱한 만큼의 오프셋 값이 존재하게 되어, 이러 한 경우 운전자에게 이질감을 주게 되는 문제점이 있었다.In addition, even when calculating the absolute angle from the signal of the relative angle sensor based on the absolute angle signal information, there is an offset value by multiplying the reduction ratio and the offset, there is a problem that gives the driver a sense of heterogeneity.

본 발명은 상기와 같은 문제점을 해결하기 위한 것으로서, 그 목적은 입력 조향각 센서를 절대각 센서로 사용하고, 모터 위치 센서 또는 출력 조향각 센서를 상대각 센서로 사용하는 AFS 시스템에 있어서, 차량 타이어의 휠속 정보로부터 차량이 직진주행 상태인 경우에 절대각 센서를 사용하는 입력 조향각 센서의 오프셋량을 감지하고, 이 오프셋량만큼 상기 입력 조향각 센서 및 상대각 센서의 출력값을 보상해 줌으로써 운전자에게 이질감을 주지 않고 안전한 조향감을 제공할 수 있도록 한 AFS 시스템에서의 조향각 센서의 오프셋 보상제어방법을 제공하는 데에 있다.SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object thereof is to use an input steering angle sensor as an absolute angle sensor and an AFS system using a motor position sensor or an output steering angle sensor as a relative angle sensor. From the information, the vehicle detects the offset amount of the input steering angle sensor using the absolute angle sensor when the vehicle is in a straight driving state, and compensates the output values of the input steering angle sensor and the relative angle sensor by this offset amount without giving a sense of heterogeneity to the driver. An object of the present invention is to provide an offset compensation control method of a steering angle sensor in an AFS system to provide a safe steering feeling.

상기와 같은 목적을 달성하기 위한 본 발명에 따른 AFS 시스템에서의 조향각 센서의 오프셋 보상제어방법은, 차량의 조향 시스템에 적용되고, 입력 조향각 센서를 절대각 센서로, 모터 위치 센서 또는 출력 조향각 센서를 상대각 센서로 각각 구성하며, 차량 타이어의 휠속 정보를 인식하기 위한 수단을 구비하여, 차속에 근거하여 조향 기어비 가변기구를 통해 조향 기어비를 가변하는 AFS 시스템에 있어서, 상기 절대각 센서의 절대각 정보와 상대각 센서의 위치 정보로부터 상대각 센서의 절대위치 정보를 연산하는 제1단계와, 상기 제1단계 수행 후, 차속별 목표 조향 기어비의 설정 맵을 통해 해당 차속에 따른 목표 조향 기어비를 설정하고, 이 설정된 목표 조향 기어비와 입력각으로부터 목표 출력각을 연산하여 이 연산된 목 표 출력각을 추종하도록 AFS 모터의 위치제어를 수행하는 제2단계와, 상기 제2단계 수행 후, 차량 타이어의 좌우 휠속 정보를 연산하여 좌륜속도와 우륜속도의 차이값이 기준값 이내이면서 일정시간 이 상태를 유지하는지를 판단하는 제3단계와, 상기 제3단계의 판단 결과, 좌륜속도와 우륜속도의 차이값이 기준값 이내이면서 일정시간 이 상태를 유지하는 차량의 직진주행상태인 경우 상기 절대각 센서의 오프셋량을 연산하는 제4단계와, 상기 제4단계에서 연산된 절대각 센서의 오프셋량이 기준값 이상인지를 판단하여 기준값 이상이라면 절대각 센서의 출력값에 기설정된 보정량을 빼주어 오프셋량을 점차 감소시키고, 상대각 센서의 출력값도 조향 기어비 가변기구의 구속식만큼 연산하여 보정하도록 하는 제5단계로 이루어지는 것을 특징으로 한다.The offset compensation control method of the steering angle sensor in the AFS system according to the present invention for achieving the above object is applied to the steering system of the vehicle, the input steering angle sensor to the absolute angle sensor, the motor position sensor or the output steering angle sensor An AFS system configured with a relative angle sensor and having means for recognizing wheel speed information of a vehicle tire and varying the steering gear ratio through a steering gear ratio variable mechanism based on the vehicle speed, the absolute angle information of the absolute angle sensor And the first step of calculating the absolute position information of the relative angle sensor from the position information of the relative angle sensor, and after performing the first step, the target steering gear ratio according to the vehicle speed is set through the setting map of the target steering gear ratio for each vehicle speed. To calculate the target output angle from the set target steering gear ratio and input angle, the AF can follow the calculated target output angle. A second step of performing the position control of the S motor, and after performing the second step, by calculating the left and right wheel speed information of the vehicle tire to determine whether the difference between the left wheel speed and the right wheel speed is within the reference value while maintaining the state for a certain time And calculating the offset amount of the absolute angle sensor when the difference value between the left wheel speed and the right wheel speed is within the reference value and the driving state of the vehicle maintains this state for a predetermined time. In step 4 and determining whether the offset amount of the absolute angle sensor calculated in the fourth step is greater than or equal to the reference value, if the reference value is greater than or equal to the reference value, the offset amount is gradually reduced by subtracting a preset correction amount from the output value of the absolute angle sensor, and the output value of the relative angle sensor. And a fifth step of calculating and correcting by the constraint of the steering gear ratio variable mechanism.

이하, 첨부된 도면을 참고하여 본 발명에 따른 AFS 시스템에서의 조향각 센서의 오프셋 보상제어방법을 상세히 설명한다.Hereinafter, an offset compensation control method of a steering angle sensor in an AFS system according to the present invention will be described in detail with reference to the accompanying drawings.

본 발명에 따른 AFS 시스템의 능동 조향 메카니즘(5)내 조향 기어비 가변기구를 이루는 유성기어에 있어서, 아래첨자 A를 선기어, B를 링기어, C를 캐리어라고 가정하면, 기구적인 구속조건식은 아래 수학식 1, 2와 같이 표현된다.In the planetary gear forming the steering gear ratio variable mechanism in the active steering mechanism (5) of the AFS system according to the present invention, assuming that subscript A is a sun gear, B is a ring gear, and C is a carrier, the mechanical constraint equation is It is expressed as Equation 1 and 2.

Figure 112005015004212-pat00001
Figure 112005015004212-pat00001

Figure 112005015004212-pat00002
Figure 112005015004212-pat00002

상기와 같은 수학식에 있어서, 링기어를 생략하고, 또 하나의 선기어를 장착하고 단이 있는 플레닛(Planet) 기어를 채택하여도 동일한 결과를 얻게 된다. 상기 세 개의 기어에 각각 입력축, AFS 모터의 제어축, 출력축을 연결하면 조향 기어비 가변기구가 구현되고, 이때 연결순서는 제한이 없다. In the above equation, the same result can be obtained even if the ring gear is omitted and another sun gear is mounted and a planetary planetary gear is adopted. When the input shaft, the control shaft of the AFS motor, and the output shaft are respectively connected to the three gears, the steering gear ratio variable mechanism is implemented, and the connection order is not limited.

그리고, 입력축을 아래첨자 A, 출력축을 아래첨자 B, 제어축을 아래첨자 C라고 가정하면, 목표 조향 기어비(K)에 따른 입출력 관계식은 아래 수학식 3과 같고, 추가의 감속기어를 통해 구동되는 캐리어와 모터의 관계식은 아래 수학식 4와 같으며, 수학식 1, 3, 4를 통합하면 아래 수학식 5와 같은 구속조건의 조합이 가능하다.In addition, assuming that the input shaft is a subscript A, the output shaft is a subscript B, and the control shaft is a subscript C, the input / output relation according to the target steering gear ratio K is expressed by Equation 3 below, and the carrier driven through the additional reduction gear The relation of and motor is as shown in Equation 4 below. Combining Equations 1, 3, and 4 enables the combination of constraints as shown in Equation 5 below.

Figure 112005015004212-pat00003
Figure 112005015004212-pat00003

Figure 112005015004212-pat00004
Figure 112005015004212-pat00004

여기서,

Figure 112005015004212-pat00006
는 입력 조향각 센서(3)로부터 검출되는 입력각이고,
Figure 112005015004212-pat00007
는 출력 조향각 센서(7)로부터 검출되는 출력각이며,
Figure 112005015004212-pat00008
는 모터 위치 센서로부터 검출되는 모터 회전각이다.
Figure 112005015004212-pat00009
는 입력 조향각 센서(3)의 입력각과 모터 위치 센서의 감속비를 통해 조합되는 입력축에 대한 제어축의 관계구속조건이다.here,
Figure 112005015004212-pat00006
Is an input angle detected from the input steering angle sensor 3,
Figure 112005015004212-pat00007
Is the output angle detected from the output steering angle sensor 7,
Figure 112005015004212-pat00008
Is the motor rotation angle detected from the motor position sensor.
Figure 112005015004212-pat00009
Is a relation constraint condition of the control shaft with respect to the input shaft combined through the input angle of the input steering angle sensor 3 and the reduction ratio of the motor position sensor.

상기와 같이 본 발명에서는 차량 타이어의 휠속 정보로부터 차량이 직진주행 상태임을 판별하여, 직진주행 상태인 경우라면 이 상태에서 절대각 센서(입력 조향각 센서)의 오프셋량을 감지하고, 운전자에게 이질감을 주지 않은 범위내에서 상기 감지된 오프셋량만큼 상기 입력 조향각 센서 및 상대각 센서의 출력값을 보상하도록 한다.As described above, the present invention determines that the vehicle is in a straight driving state from the wheel speed information of the vehicle tire, and in the case of the straight driving state, detects the offset amount of the absolute angle sensor (input steering angle sensor) in this state and gives a sense of heterogeneity to the driver. Compensate for the output values of the input steering angle sensor and the relative angle sensor by the sensed offset amount within a range that is not within the range.

도 2는 본 발명에 따른 AFS 시스템에서의 조향각 센서의 오프셋 보상제어방법을 보인 동작 흐름도로서, 이를 참고하여 보다 상세히 설명하면 다음과 같다.2 is an operation flowchart showing a method for offset compensation control of a steering angle sensor in an AFS system according to the present invention.

먼저, AFS 시스템에서 AFS 시스템의 ECU(4)는 입력 조향각 센서(3)의 절대각 정보와 상대각 센서(출력 조향각 센서(7) 또는 모터 위치 센서)의 위치 정보로부터 상대각 센서의 절대위치 정보를 연산한다(S1).First, in the AFS system, the ECU 4 of the AFS system uses the absolute position information of the relative angle sensor from the absolute angle information of the input steering angle sensor 3 and the position information of the relative angle sensor (the output steering angle sensor 7 or the motor position sensor). Calculate (S1).

이어, ECU(4)는 차속센서를 통해 감지되어 입력되는 차량의 속도를 연산하여 차속을 구하고(S2), 이어 차속별 목표 조향 기어비의 설정 맵을 통해 상기 단계(S2)에서 구한 해당 차속에 따른 목표 조향 기어비(K)를 설정한다(S3).Subsequently, the ECU 4 calculates the speed of the vehicle detected and input through the vehicle speed sensor to obtain a vehicle speed (S2), and according to the corresponding vehicle speed obtained in the step S2 through the setting map of the target steering gear ratio for each vehicle speed. The target steering gear ratio K is set (S3).

그리고 나서, 상기 단계(S3)에서 설정된 목표 조향 기어비(K)와 입력각으로부터 목표 출력각을 연산한다(S4).Then, the target output angle is calculated from the target steering gear ratio K and the input angle set in the step S3 (S4).

이후, 상기 단계(S4)에서 연산된 목표 출력각을 추종하도록 AFS 모터의 위치제어를 수행한다(S5).Thereafter, position control of the AFS motor is performed to follow the target output angle calculated in the step S4 (S5).

이때, 본 발명에 따른 입력 조향각 센서(3) 및 상대각 센서의 오프셋량을 보 상제어하기 위해 먼저 차량 타이어의 좌우 휠속 정보를 연산하고(S6), 이 연산된 좌륜속도와 우륜속도의 차이값이 기준값 이내이면서 일정시간 이 상태를 유지하는지를 판단한다(S7).At this time, in order to compensate for the offset amount of the input steering angle sensor 3 and the relative angle sensor according to the present invention, first calculating the left and right wheel speed information of the vehicle tire (S6), the difference value between the calculated left wheel speed and right wheel speed It is determined whether the state remains within this reference value for a certain time (S7).

상기 단계(S7)의 판단 결과, 좌륜속도와 우륜속도의 차이값이 기준값 이내이면서 일정시간 이 상태를 유지하는 경우라면, 즉 차량이 직진주행임이 판별되면, 상기 절대각 센서인 입력 조향각 센서(3)의 오프셋량을 연산한다(S8).As a result of the determination in step S7, if the difference value between the left wheel speed and the right wheel speed is within the reference value and maintains this state for a predetermined time, that is, if it is determined that the vehicle is driving straight, the input steering angle sensor 3 as the absolute angle sensor 3 Calculate the offset amount (S8).

상기 단계(S8)에서 연산된 입력 조향각 센서(3)의 오프셋량이 기준값 이상인지를 판단하여(S9) 기준값 이상이라면 절대각 센서의 출력값에 기설정된 보정량을 빼주어 오프셋량을 점차 감소시키고, 상대각 센서의 출력값도 상기 수학식 5의 구속식

Figure 112005015004212-pat00010
만큼 연산하여 보정하도록 한다(S10).It is determined whether the offset amount of the input steering angle sensor 3 calculated in the step S8 is greater than or equal to the reference value (S9). If the offset value is greater than or equal to the reference value, the offset amount is gradually reduced by subtracting a preset correction amount from the output value of the absolute angle sensor. The output value of the sensor is also the constraint of Equation 5
Figure 112005015004212-pat00010
Compute by correcting (S10).

이상, 상기에서 설명한 바와 같이, 본 발명은 입력 조향각 센서를 절대각 센서로 사용하고, 모터 위치 센서 또는 출력 조향각 센서를 상대각 센서로 사용하는 AFS 시스템에 있어서, 차량 타이어의 휠속 정보로부터 차량이 직진주행 상태인 경우에 절대각 센서를 사용하는 입력 조향각 센서의 오프셋량을 감지하고, 이 오프셋량만큼 상기 입력 조향각 센서 및 상대각 센서의 출력값을 보상해 줌으로써 운전자에게 이질감을 주지 않고 안전한 조향감을 제공할 수 있게 되는 효과가 있다.As described above, in the AFS system in which the input steering angle sensor is used as the absolute angle sensor and the motor position sensor or the output steering angle sensor is used as the relative angle sensor, the vehicle moves straight from the wheel speed information of the vehicle tire. When the vehicle is in a driving state, the offset amount of the input steering angle sensor using the absolute angle sensor is sensed and the output value of the input steering angle sensor and the relative angle sensor is compensated by this offset amount to provide a safe steering feeling without dissimilarity to the driver. There is an effect that becomes possible.

Claims (1)

차량의 조향 시스템에 적용되고, 입력 조향각 센서를 절대각 센서로, 모터 위치 센서 또는 출력 조향각 센서를 상대각 센서로 각각 구성하며, 차량 타이어의 휠속 정보를 인식하기 위한 수단을 구비하여, 차속에 근거하여 조향 기어비 가변기구를 통해 조향 기어비를 가변하는 AFS 시스템에 있어서, Applied to a steering system of a vehicle, the input steering angle sensor is configured as an absolute angle sensor, the motor position sensor or the output steering angle sensor is configured as a relative angle sensor, and a means for recognizing wheel speed information of a vehicle tire is provided. In the AFS system for varying the steering gear ratio through the steering gear ratio variable mechanism, 상기 절대각 센서의 절대각 정보와 상대각 센서의 위치 정보로부터 상대각 센서의 절대위치 정보를 연산하는 제1단계와,A first step of calculating absolute position information of the relative angle sensor from absolute angle information of the absolute angle sensor and position information of the relative angle sensor; 상기 제1단계 수행 후, 차속별 목표 조향 기어비의 설정 맵을 통해 해당 차속에 따른 목표 조향 기어비를 설정하고, 이 설정된 목표 조향 기어비와 입력각으로부터 목표 출력각을 연산하여 이 연산된 목표 출력각을 추종하도록 AFS 모터의 위치제어를 수행하는 제2단계와,After performing the first step, the target steering gear ratio according to the vehicle speed is set through the setting map of the target steering gear ratio for each vehicle speed, and the target output angle is calculated by calculating the target output angle from the set target steering gear ratio and the input angle. A second step of performing position control of the AFS motor to follow, 상기 제2단계 수행 후, 차량 타이어의 좌우 휠속 정보를 연산하여 좌륜속도와 우륜속도의 차이값이 기준값 이내이면서 일정시간 이 상태를 유지하는지를 판단하는 제3단계와,After performing the second step, calculating the left and right wheel speed information of the vehicle tire to determine whether the difference between the left wheel speed and the right wheel speed is within a reference value and is maintained for a predetermined time; 상기 제3단계의 판단 결과, 좌륜속도와 우륜속도의 차이값이 기준값 이내이면서 일정시간 이 상태를 유지하는 차량의 직진주행상태인 경우 상기 절대각 센서의 오프셋량을 연산하는 제4단계와,A fourth step of calculating an offset amount of the absolute angle sensor when the difference value between the left wheel speed and the right wheel speed is within a reference value and the vehicle is in a straight driving state as a result of the determination in the third step; 상기 제4단계에서 연산된 절대각 센서의 오프셋량이 기준값 이상인지를 판단하여 기준값 이상이라면 절대각 센서의 출력값에 기설정된 보정량을 빼주어 오프셋 량을 점차 감소시키고, 상대각 센서의 출력값도 조향 기어비 가변기구의 구속식만큼 연산하여 보정하도록 하는 제5단계로 이루어지는 것을 특징으로 하는 능동 전륜 조향 시스템에서의 조향각 센서의 오프셋 보상제어방법.It is determined whether the offset amount of the absolute angle sensor calculated in the fourth step is equal to or greater than the reference value, and if the reference value is equal to or greater than the reference value, the offset amount is gradually reduced by subtracting a preset correction amount from the output value of the absolute angle sensor, and the output value of the relative angle sensor also varies the steering gear ratio. 5. A method for offset compensation control of a steering angle sensor in an active front wheel steering system, comprising: a fifth step of calculating and correcting by a constraint of a mechanism.
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