KR102515225B1 - Apparatus and method for controlling steering and, steering apparatus - Google Patents

Abstract

The present embodiments relate to a steering control apparatus and method, and a steering apparatus. The steering control device controls a steering wheel that is interlocked with a wheel not to move according to a judgment unit that determines whether the vehicle has entered autonomous driving and whether or not the vehicle has entered autonomous driving, and controls the movement of the vehicle through an indicator. It may include a control unit that controls to be reflected.

Description

Steering control device and method, and steering device {APPARATUS AND METHOD FOR CONTROLLING STEERING AND, STEERING APPARATUS}

The present embodiments relate to an autonomous driving system, and more particularly, to a steering control device and method, and a steering device.

In general, an autonomous driving system can be defined as a system that greatly improves driver convenience and safety so that a vehicle can drive by itself. In particular, the most important device in such an autonomous driving system may be a steering device.

A steering device may be defined as a device capable of changing a steering angle of a wheel based on rotational force applied to the steering wheel. Currently, such a steering device has been developed to be suitable for a general (or manual) driving system rather than an autonomous driving system.

Accordingly, it is necessary to develop a steering device suitable for an autonomous driving system.

The present embodiments have been devised to solve the above problems, and an object of the present embodiments is to provide a steering control device that not only eliminates discomfort due to rotation of a steering wheel during autonomous driving of a vehicle, but also enables recognition of autonomous driving. is in providing

In addition, an object of the present embodiments is to provide a steering device that not only eliminates discomfort due to rotation of a steering wheel during autonomous driving of a vehicle, but also enables recognition of autonomous driving.

In addition, an object of the present embodiments is to provide a steering control method that enables recognition of autonomous driving as well as eliminating discomfort due to rotation of a steering wheel during autonomous driving of a vehicle.

In order to achieve the above object, one aspect of the present embodiments is to control the steering wheel interlocked with the wheel not to move according to the result of determining whether the vehicle has entered autonomous driving and the determination unit for determining whether the vehicle has entered autonomous driving, , To provide a steering control device including a control unit that controls the motion of the vehicle to be reflected through an indicator.

In addition, in order to achieve the above object, one aspect of the present embodiments is controlled so that the indicator located on the steering wheel and the steering wheel interlocked with the wheel do not move when it is determined that the vehicle has entered the autonomous driving mode. In this case, it is to provide a steering device including an actuator for driving the indicator so that the movement of the vehicle is reflected on the indicator.

In addition, one aspect of the present embodiments in order to achieve the above object is to control the steering wheel interlocked with the wheel not to move according to the step of determining whether the vehicle has entered autonomous driving and the result of determining whether the vehicle has entered autonomous driving. It is to provide a steering control method including the step of controlling so that the motion of the vehicle is reflected through an indicator.

According to the steering control apparatus and method and the steering apparatus of the present embodiments as described above, according to the result of determining whether the vehicle enters autonomous driving, the steering wheel interlocked with the wheel is controlled not to move, and the indicator is turned on. By controlling the movement of the vehicle to be reflected through the control system, it is possible to eliminate the sense of discomfort caused by the rotation of the steering wheel during autonomous driving of the vehicle, and to enable the perception of autonomous driving, as well as unnecessary movement of the steering wheel, that is, the steering motor and steering reaction force. It is possible to increase fuel efficiency by eliminating unnecessary movement of the motor and the like.

1 is an overall block configuration diagram illustrating a steering control device according to the present embodiments.
2 is an overall block diagram illustrating a steering device according to the present embodiments.
3 is a detailed block configuration diagram for explaining a steering control module according to the present embodiments.
4 to 6 are specific views for explaining a steering device including a steering wheel, an indicator, and an actuator according to the present embodiments.
7 is an overall flowchart for explaining a steering control method according to the present embodiments.
8 is an overall flowchart for explaining a method of determining whether a vehicle enters autonomous driving according to the present embodiments.
9 and 10 are overall flowcharts for explaining a method of controlling a steering wheel and an indicator according to the present embodiments.
11 and 12 are overall flowcharts for explaining a method of controlling a steering wheel and an airbag module according to the present embodiments.
13 is a block diagram of a steering control device and a computer system of the steering device according to the present embodiments.

Hereinafter, the advantages and characteristics of the present embodiments, and methods for achieving them will become clear with reference to the embodiments described later in detail in conjunction with the accompanying drawings. However, the present embodiments are not limited to the embodiments disclosed below, but will be implemented in a variety of different forms, and only these embodiments make the disclosure of the present embodiments complete, and common in the art to which the present embodiments belong. It is provided to fully inform those who have knowledge of the scope of the invention, and the embodiments are only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification. “And/or” includes each and every combination of one or more of the recited items.

Although first, second, etc. are used to describe various elements, components and/or sections, it is needless to say that these elements, components and/or sections are not limited by these terms. These terms are only used to distinguish one element, component or section from another element, component or section. Accordingly, it goes without saying that the first element, first component, or first section referred to below may be the second element, second component, or second section within the technical spirit of the present embodiments.

Terminology used herein is for describing the embodiments and is not intended to limit the embodiments. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" means that a stated component, step, operation, and/or element is present in the presence of one or more other components, steps, operations, and/or elements. or do not rule out additions.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present embodiments belong. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

In addition, in describing the embodiments of the present embodiments, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the gist of the present embodiments, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the embodiments of the present embodiments, which may vary according to the intention or custom of a user or operator. Therefore, the definition should be made based on the contents throughout this specification.

Hereinafter, a steering control device according to the present embodiments will be described with reference to the accompanying drawings.

1 is an overall block configuration diagram illustrating a steering control device according to the present embodiments.

Referring to FIG. 1 , the steering control apparatus 100 according to the present embodiments may include a determination unit 110 and a control unit 120.

The steering control apparatus 100 according to the present embodiments controls the steering wheel to be interlocked with the wheel not to move according to the result of determining whether the vehicle has entered autonomous driving and the determination unit 110 for determining whether the vehicle has entered autonomous driving. and a control unit 120 that controls the motion of the vehicle to be reflected through an indicator.

Describing this in detail, the determination unit 110 may determine whether or not the vehicle enters autonomous driving.

For example, the determination unit 110 may receive at least one of vehicle state information, driver input information, and surrounding state information of the vehicle from the vehicle. The determination unit 110 may determine whether the vehicle enters autonomous driving based on at least one of vehicle state information, driver input information, and surrounding state information provided from the vehicle.

The determination unit 110 may generate a result of determining whether the vehicle enters autonomous driving.

In one example, when determining that the vehicle has entered the autonomous driving mode, the determination unit 110 may generate a determination result indicating that the vehicle has entered the autonomous driving mode. In particular, the determination unit 110 may determine that the vehicle has entered the autonomous driving mode when the driver selects the autonomous driving mode.

In another example, when determining that the vehicle has not entered the autonomous driving mode, the determination unit 110 may generate a determination result indicating that the vehicle has not entered the autonomous driving mode (or the vehicle has been maintained in normal driving).

The controller 120 may control at least one of a steering wheel and an indicator according to a result of determining whether the vehicle has entered autonomous driving.

For example, the controller 120 may control a steering wheel that is interlocked with a wheel not to move, and control the movement of the vehicle to be reflected through an indicator, according to a result of determining whether the vehicle enters autonomous driving.

Specifically, the control unit 120 may be connected to the determination unit 110 . The control unit 120 may receive a result of determining whether the vehicle has entered autonomous driving from the determination unit 110 . The controller 120 may control the steering wheel according to a result of determining whether the vehicle enters autonomous driving provided by the determiner 110 .

In one example, when it is determined that the vehicle has not entered the autonomous driving mode, the controller 120 may not block mechanical and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel moves.

That is, the control unit 120 determines that the vehicle has not entered the autonomous driving mode (or maintains the vehicle's normal driving), the steering wheel The steering wheel interlocked with the wheel can be controlled to move without blocking mechanical interlocking and electrical interlocking between the wheel and the wheel.

In another example, when it is determined that the vehicle has entered the autonomous driving mode, the controller 120 may block at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel does not move. there is.

That is, when the result of determining whether the vehicle enters autonomous driving provided by the determination unit 110 is the determination result that the vehicle enters the autonomous driving mode, the control unit 120 determines at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheels. By blocking one interlock, it is possible to control the steering wheel interlocked with the wheel not to move.

The control unit 120 may be connected to the determination unit 110 . The control unit 120 may receive a result of determining whether the vehicle has entered autonomous driving from the determination unit 110 . The control unit 120 may control the indicator according to a result of determining whether the vehicle enters autonomous driving provided by the determination unit 110 .

In one example, when it is determined that the vehicle has not entered the autonomous driving mode, the controller 120 may control the movement of the vehicle not to be reflected through an indicator.

That is, the control unit 120, when the result of determining whether the vehicle has entered autonomous driving provided by the determination unit 110 is the determination result that the vehicle has not entered the autonomous driving mode (or maintains normal driving of the vehicle), the indicator ( indicator) can be controlled so that the movement of the vehicle is not reflected.

In another example, when it is determined that the vehicle has entered the autonomous driving mode, the controller 120 may control the movement of the vehicle to be reflected through an indicator.

That is, the control unit 120 controls the movement of the vehicle to be reflected in the indicator when the result of determining whether the vehicle enters autonomous driving provided from the determination unit 110 is the result of determining that the vehicle enters the autonomous driving mode. can do.

In particular, when it is determined that the vehicle has entered the autonomous driving mode, the controller 120 may control the indicator to move in accordance with the steering state of the vehicle.

For example, the controller 120 may control driving of an actuator connected to the indicator so that the indicator moves in accordance with the steering state of the vehicle. That is, the controller 120 may control the driving of the actuator connected to the indicator so that the indicator rotates corresponding to the steering state of the vehicle.

Specifically, the controller 120 may control the driving of the actuator connected to the indicator so that the indicator moves in correspondence with steering angle information.

That is, the controller 120 controls the wheels based on the steering angle information, controls the steering wheel interlocked with the wheels not to move, and controls the driving of the actuator connected to the indicator so that the indicator moves in accordance with the steering angle information. can

In other words, when it is determined that the vehicle has entered the autonomous driving mode, the control unit 120 controls (eg, the direction of the wheel) based on steering angle information (eg, target steering angle information). For example, rotation, etc.).

In addition, the controller 120 may control the steering wheel interlocked with the wheel not to move while the wheel is controlled.

In addition, the controller 120 may control the driving of the actuator connected to the indicator based on the steering angle information so that the steering angle state of the vehicle is displayed on the indicator.

In addition, the controller 120 may control driving of an actuator connected to the indicator so that the indicator moves in correspondence with wheel rotation information.

That is, the control unit 120 controls the wheels based on the steering angle information, controls the steering wheel interlocked with the wheels not to move, and controls the driving of the actuator connected to the indicator so that the indicator moves in accordance with the rotation information of the wheels. can do.

In other words, when it is determined that the vehicle has entered the autonomous driving mode, the control unit 120 controls (eg, the direction of the wheel) based on steering angle information (eg, target steering angle information). For example, rotation, etc.).

In addition, the controller 120 may control the steering wheel interlocked with the wheel not to move while the wheel is controlled.

In addition, the controller 120 may control driving of an actuator connected to the indicator based on rotation information of the wheel, so that the rotation state of the wheel may appear on the indicator.

Here, the controller 120 may control driving of the actuator so that the indicator moves within a range of 0 degrees to 180 degrees.

That is, the controller 120 may control the driving of the actuator connected to the indicator within a range of 0 degrees to 180 degrees, so that the indicator moves within a range of 0 degrees to 180 degrees.

Meanwhile, the indicator according to the present embodiments may include an air bag module located on the steering wheel.

Therefore, the steering control apparatus 100 according to the present embodiments does not move the steering wheel interlocked with the wheel according to the determination unit 110 for determining whether the vehicle has entered autonomous driving and the result of determining whether the vehicle has entered autonomous driving. It may include a control unit 120 that controls the air bag module to reflect the movement of the vehicle.

When this is described in detail, since the determination unit 110 has been described above, a description of the determination unit 110 will be omitted for simplicity of description.

The controller 120 may control at least one of a steering wheel and an airbag module according to a result of determining whether the vehicle enters autonomous driving.

For example, the controller 120 may control a steering wheel that is interlocked with a wheel not to move, and control the movement of the vehicle to be reflected through an airbag module according to a result of determining whether the vehicle enters autonomous driving.

Specifically, the control unit 120 may be connected to the determination unit 110 . The control unit 120 may receive a result of determining whether the vehicle has entered autonomous driving from the determination unit 110 . The controller 120 may control the steering wheel according to a result of determining whether the vehicle enters autonomous driving provided by the determiner 110 .

In one example, when it is determined that the vehicle has not entered the autonomous driving mode, the controller 120 may not block mechanical and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel moves.

That is, the control unit 120 determines that the vehicle has not entered the autonomous driving mode (or maintains the vehicle's normal driving), the steering wheel The steering wheel interlocked with the wheel can be controlled to move without blocking mechanical interlocking and electrical interlocking between the wheel and the wheel.

In another example, when it is determined that the vehicle has entered the autonomous driving mode, the controller 120 may block at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel does not move. there is.

That is, when the result of determining whether the vehicle enters autonomous driving provided by the determination unit 110 is the determination result that the vehicle enters the autonomous driving mode, the control unit 120 determines at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheels. By blocking one interlock, it is possible to control the steering wheel interlocked with the wheel not to move.

The control unit 120 may be connected to the determination unit 110 . The control unit 120 may receive a result of determining whether the vehicle has entered autonomous driving from the determination unit 110 . The control unit 120 may control the airbag module according to a result of determining whether the vehicle enters autonomous driving provided by the determination unit 110 .

In one example, when it is determined that the vehicle has not entered the autonomous driving mode, the controller 120 may control the movement of the vehicle not to be reflected through the airbag module.

That is, the control unit 120 determines that the vehicle has not entered the autonomous driving mode (or maintains normal driving of the vehicle) when the result of determining whether or not the vehicle has entered autonomous driving provided by the determination unit 110 is the air bag. It can be controlled so that the movement of the vehicle is not reflected in the module.

In another example, when it is determined that the vehicle has entered the autonomous driving mode, the controller 120 may control the movement of the vehicle to be reflected through the airbag module.

That is, the control unit 120 controls the airbag module to reflect the movement of the vehicle when the result of determining whether the vehicle enters autonomous driving provided by the determination unit 110 is the determination result that the vehicle enters the autonomous driving mode. can

In particular, when it is determined that the vehicle has entered the autonomous driving mode, the controller 120 may control the airbag module to move in accordance with the steering state of the vehicle.

For example, the controller 120 may control the driving of an actuator connected to the airbag module so that the airbag module moves in correspondence with the steering state of the vehicle. That is, the controller 120 may control the driving of the actuator connected to the airbag module to control the airbag module to rotate corresponding to the steering state of the vehicle.

Specifically, the controller 120 may control the driving of the actuator connected to the airbag module so that the airbag module moves correspondingly to steering angle information.

That is, the control unit 120 controls the wheels based on the steering angle information, controls the steering wheel interlocked with the wheels not to move, and controls the actuator connected to the airbag module so that the airbag module moves correspondingly to the steering angle information. drive can be controlled.

In other words, when it is determined that the vehicle has entered the autonomous driving mode, the control unit 120 controls (eg, the direction of the wheel) based on steering angle information (eg, target steering angle information). For example, rotation, etc.).

In addition, the controller 120 may control the steering wheel interlocked with the wheel not to move while the wheel is controlled.

In addition, the controller 120 may control driving of an actuator connected to the airbag module based on steering angle information so that the steering angle state of the vehicle may appear on the airbag module.

In addition, the controller 120 may control the driving of the actuator connected to the airbag module so that the airbag module moves in accordance with wheel rotation information.

That is, the control unit 120 controls the wheels based on the steering angle information, controls the steering wheel interlocked with the wheels not to move, and controls the actuator connected to the airbag module to move the airbag module corresponding to the wheel rotation information. can control the operation of

In other words, when it is determined that the vehicle has entered the autonomous driving mode, the control unit 120 controls (eg, the direction of the wheel) based on steering angle information (eg, target steering angle information). For example, rotation, etc.).

In addition, the controller 120 may control the steering wheel interlocked with the wheel not to move while the wheel is controlled.

In addition, the controller 120 may control driving of actuators connected to the airbag module based on wheel rotation information so that the wheel rotation state may be displayed on the airbag module.

Here, the controller 120 may control the driving of the actuator so that the airbag module moves within a range of 0 degrees to 180 degrees.

That is, the controller 120 may control the driving of the actuator connected to the airbag module within a range of 0 degrees to 180 degrees so that the airbag module moves within a range of 0 degrees to 180 degrees.

2 is an overall block diagram illustrating a steering device according to the present embodiments.

Referring to FIG. 2 , the steering device 200 according to the present embodiments may include an indicator 210 and an actuator 220.

The steering device 200 according to the present embodiments determines that the indicator 210 located on the steering wheel and the vehicle has entered the autonomous driving mode and controls the steering wheel interlocked with the vehicle wheel not to move. It may include an actuator 220 that drives the indicator 210 so that movement is reflected on the indicator 210 .

Describing this in detail, the indicator 210 may be located on the steering wheel.

Indicator 210 may reflect the movement of the vehicle.

For example, the indicator 210 may be connected to the actuator 220 . An operation of the indicator 210 may be driven by the actuator 220 . That is, the indicator 210 may be driven by the actuator 220 to reflect the movement of the vehicle.

Indicator 210 may be referred to as an auxiliary steering wheel.

The indicator 210 can be operated only when the vehicle is in an autonomous driving mode.

The actuator 220 may drive the indicator 210 .

In one example, when it is determined that the vehicle has entered the autonomous driving mode and the steering wheel interlocked with the wheels is controlled not to move, the actuator 220 sets the indicator 210 so that the movement of the vehicle is reflected in the indicator 210. can drive

In another example, when the actuator 220 determines that the vehicle has not entered the autonomous driving mode and the steering wheel interlocked with the wheel is controlled to move, the indicator 210 prevents the movement of the vehicle from being reflected in the indicator 210. may not be running.

Here, the case where it is determined that the vehicle has entered the autonomous driving mode and the steering wheel interlocked with the wheel does not move may include a case in which at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel is blocked. .

The actuator 220 may drive the indicator 210 so that the indicator 210 moves in correspondence with the steering state of the vehicle.

That is, when the actuator 220 determines that the vehicle has entered the autonomous driving mode and controls the steering wheel not to move, the indicator 210 rotates correspondingly to the steering state of the vehicle. can drive

Specifically, the actuator 220 may drive the indicator 210 so that the indicator 210 moves in correspondence with steering angle information.

That is, when it is determined that the vehicle has entered the autonomous driving mode, and the steering wheel is controlled based on the steering angle information and the steering wheel interlocked with the wheel is controlled not to move, the actuator 220 provides an indicator corresponding to the steering angle information ( 210 may drive the indicator 210 to move.

Also, the actuator 220 may drive the indicator 210 so that the indicator 210 moves in correspondence with wheel rotation information.

That is, when it is determined that the vehicle has entered the autonomous driving mode and the wheels are controlled based on the steering angle information and the steering wheel interlocked with the wheels is controlled not to move, the actuator 220 controls the rotation information of the wheels according to the rotation information of the wheels. The indicator 210 may be driven so that the indicator 210 moves.

Here, the actuator 220 may drive the indicator 210 so that the indicator 210 moves within a range of 0 degrees to 180 degrees.

That is, the actuator 220 may be controlled within a range of 0 degrees to 180 degrees, and may drive the indicator 210 so that the indicator 210 moves within a range of 0 degrees to 180 degrees.

As described above, the indicator 210 may be synchronized with the steering direction of the vehicle. In particular, for recognition of only the steering direction of the vehicle, the rotation angle of the indicator 210 may be limited to a preset angle as described above, but is not limited thereto and may be modified.

Meanwhile, the indicator 210 according to the present embodiments may include an air bag module located on a steering wheel.

Thus, the steering device 200 according to the present embodiments includes an air bag module located on a steering wheel; and an actuator 220 for driving the airbag module so that the movement of the vehicle is reflected in the airbag module when it is determined that the vehicle has entered the autonomous driving mode and the steering wheel interlocked with the wheel is controlled not to move. there is.

Specifically, the air bag module may be located on the steering wheel.

The air bag module may reflect the movement of the vehicle.

For example, the air bag module may be connected to the actuator 220 . The operation of the air bag module may be driven by the actuator 220 . That is, the airbag module may be driven by the actuator 220 to reflect the movement of the vehicle.

The actuator 220 may drive the air bag module.

In one example, when it is determined that the vehicle has entered the autonomous driving mode and the steering wheel interlocked with the wheels is controlled not to move, the actuator 220 drives the airbag module so that the movement of the vehicle is reflected in the airbag module. can

In another example, when it is determined that the vehicle has not entered the autonomous driving mode and the steering wheel interlocked with the vehicle is controlled to move, the actuator 220 drives the airbag module so that the movement of the vehicle is not reflected in the airbag module. may not

Here, the case where it is determined that the vehicle has entered the autonomous driving mode and the steering wheel interlocked with the wheel does not move may include a case in which at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel is blocked. .

The actuator 220 may drive the airbag module so that the airbag module moves in correspondence with the steering state of the vehicle.

That is, when the actuator 220 determines that the vehicle has entered the autonomous driving mode and controls the steering wheel not to move, the airbag module drives the airbag module to rotate corresponding to the steering state of the vehicle. can do.

Specifically, the actuator 220 may drive the airbag module to move in response to steering angle information.

That is, when the actuator 220 determines that the vehicle has entered the autonomous driving mode and controls the wheels based on the steering angle information and controls the steering wheel interlocked with the wheels not to move, an airbag corresponding to the steering angle information The air bag module can be driven to make the module move.

Also, the actuator 220 may drive the airbag module so that the airbag module moves in correspondence with wheel rotation information.

That is, when it is determined that the vehicle has entered the autonomous driving mode and the wheels are controlled based on the steering angle information and the steering wheel interlocked with the wheels is controlled not to move, the actuator 220 controls the rotation information of the wheels according to the rotation information of the wheels. The air bag module may be driven to move the air bag module.

Here, the actuator 220 may drive the airbag module so that the airbag module moves within a range of 0 degrees to 180 degrees.

That is, the actuator 220 may be controlled within a range of 0 degrees to 180 degrees to drive the air bag module so that the air bag module moves within a range of 0 degrees to 180 degrees.

3 is a detailed block configuration diagram for explaining a steering control module according to the present embodiments.

Referring to FIG. 3 , the steering device 200 according to the present embodiments includes a steering control module 230, a steering wheel 240, a sensor 250, a steering motor 260, a linkage unit 270, and the like. It can be done by

Here, since the steering control module 230 can be understood as the same component as the steering control device 100 described above with reference to FIG. 1, the steering control module 230 to be described later is the steering control device described above with reference to FIG. All of the functions of (100) can be performed.

The steering control module 230 according to the present embodiments determines whether the vehicle has entered autonomous driving, and controls the steering wheel interlocked with the wheel not to move according to the result of determining whether the vehicle has entered autonomous driving, and controls the indicator 210 ), it is possible to control the motion of the vehicle to be reflected.

Specifically, the steering control module 230 may determine whether or not the vehicle enters autonomous driving.

For example, the steering control module 230 may receive at least one of vehicle state information, driver input information, and surrounding state information of the vehicle from the vehicle. The steering control module 230 may determine whether the vehicle enters autonomous driving based on at least one of vehicle state information, driver input information, and surrounding state information provided from the vehicle.

The steering control module 230 may generate a result of determining whether the vehicle enters autonomous driving.

In one example, the steering control module 230 may generate a determination result indicating that the vehicle has entered autonomous driving mode when it is determined that the vehicle has entered the autonomous driving mode. In particular, the steering control module 230 may determine that the vehicle has entered the autonomous driving mode when the driver selects the autonomous driving mode.

In another example, when it is determined that the vehicle has not entered the autonomous driving mode, the steering control module 230 may generate a determination result indicating that the vehicle has not entered autonomous driving (or the vehicle has been maintained in normal driving).

The steering control module 230 may control at least one of a steering wheel and an indicator 210 according to a result of determining whether the vehicle enters autonomous driving.

Specifically, the steering control module 230 may control the steering wheel according to a result of determining whether the vehicle enters autonomous driving.

For example, the steering control module 230 may control a steering wheel interlocked with a wheel not to move according to a result of determining whether the vehicle enters autonomous driving, and control the movement of the vehicle to be reflected through the indicator 210.

In one example, when it is determined that the vehicle has not entered the autonomous driving mode, the steering control module 230 may not block mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel moves. .

That is, the steering control module 230 determines that the vehicle does not enter the autonomous driving mode (or maintains normal driving of the vehicle), the steering control module 230 mechanically interlocks the steering wheel and the wheels and It is possible to control the steering wheel that is linked to the wheel to move without blocking the electrical linkage.

In another example, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 performs at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel does not move. can block

That is, the steering control module 230 blocks at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel when the result of determining whether the vehicle enters autonomous driving is the result of determining that the vehicle enters the autonomous driving mode. The steering wheel interlocked with the wheel can be controlled so that it does not move.

The steering control module 230 may control the indicator 210 according to a result of determining whether the vehicle enters autonomous driving.

In one example, when it is determined that the vehicle has not entered the autonomous driving mode, the steering control module 230 may control the motion of the vehicle not to be reflected through the indicator 210 .

That is, the steering control module 230 displays the movement of the vehicle on the indicator 210 when the result of determining whether or not the vehicle enters autonomous driving is that the vehicle does not enter the autonomous driving mode (or maintains normal driving of the vehicle). This can be controlled not to be reflected.

In another example, the steering control module 230 may control the movement of the vehicle to be reflected through the indicator 210 when it is determined that the vehicle has entered the autonomous driving mode.

That is, the steering control module 230 may control the indicator 210 to reflect the movement of the vehicle when the result of determining whether the vehicle enters autonomous driving is the result of determining that the vehicle enters the autonomous driving mode.

In particular, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 may control the indicator 210 to move in accordance with the steering state of the vehicle.

For example, the steering control module 230 may control the driving of the actuator 220 connected to the indicator 210 so that the indicator 210 moves in accordance with the steering state of the vehicle. That is, the steering control module 230 may control the driving of the actuator 220 connected to the indicator 210 to control the indicator 210 to rotate corresponding to the steering state of the vehicle.

Specifically, the steering control module 230 may control the driving of the actuator 220 connected to the indicator 210 so that the indicator 210 moves in correspondence with steering angle information.

That is, the steering control module 230 controls the wheels based on the steering angle information, controls the steering wheel interlocked with the wheels not to move, and controls the indicator 210 to move correspondingly to the steering angle information. It is possible to control the driving of the actuator 220 connected to.

In other words, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 adjusts the wheels (eg, the direction of the wheels) based on steering angle information (eg, target steering angle information). control (eg rotation, etc.).

In addition, the steering control module 230 may control the steering wheel interlocked with the wheel not to move while the wheel is controlled.

In addition, the steering control module 230 controls the driving of the actuator 220 connected to the indicator 210 based on the steering angle information, so that the steering angle state of the vehicle can be displayed on the indicator 210. .

In addition, the steering control module 230 may control the driving of the actuator 220 connected to the indicator 210 so that the indicator 210 moves in accordance with wheel rotation information.

That is, the steering control module 230 controls the wheel based on steering angle information, controls the steering wheel interlocked with the wheel not to move, and controls the indicator 210 to move corresponding to the rotation information of the wheel. It is possible to control the driving of the actuator 220 connected to ).

In other words, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 adjusts the wheels (eg, the direction of the wheels) based on steering angle information (eg, target steering angle information). control (eg rotation, etc.).

In addition, the steering control module 230 may control the steering wheel interlocked with the wheel not to move while the wheel is controlled.

In addition, the steering control module 230 controls driving of the actuator 220 connected to the indicator 210 based on wheel rotation information, so that the indicator 210 may display the wheel rotation state. .

Here, the steering control module 230 may control driving of the actuator 220 so that the indicator 210 moves within a range of 0 degrees to 180 degrees.

That is, the steering control module 230 controls the driving of the actuator 220 connected to the indicator 210 within a range of 0 degrees to 180 degrees so that the indicator 210 moves within a range of 0 degrees to 180 degrees. You can control it.

Meanwhile, the indicator 210 according to the present embodiments may include an air bag module located on a steering wheel.

Therefore, the steering control module 230 according to the present embodiments determines whether the vehicle has entered autonomous driving, and controls the steering wheel interlocked with the wheel not to move according to the determination result of whether the vehicle has entered autonomous driving, and controls the air Through the bag module, the movement of the vehicle can be controlled to be reflected.

Specifically, since the method for determining whether the vehicle has entered autonomous driving has been described above, the description of the method for determining whether the vehicle has entered autonomous driving will be omitted for simplicity of description.

The steering control module 230 may control at least one of a steering wheel and an airbag module according to a result of determining whether the vehicle enters autonomous driving.

For example, the steering control module 230 may control a steering wheel that is interlocked with a wheel not to move, and control the movement of the vehicle to be reflected through an airbag module according to a result of determining whether the vehicle enters autonomous driving.

Specifically, the steering control module 230 may control the steering wheel according to a result of determining whether the vehicle enters autonomous driving.

In one example, when it is determined that the vehicle has not entered the autonomous driving mode, the steering control module 230 may not block mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel moves. .

That is, the steering control module 230 determines that the vehicle does not enter the autonomous driving mode (or maintains normal driving of the vehicle), the steering control module 230 mechanically interlocks the steering wheel and the wheels and It is possible to control the steering wheel that is linked to the wheel to move without blocking the electrical linkage.

In another example, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 performs at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel does not move. can block

That is, the steering control module 230 blocks at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel when the result of determining whether the vehicle enters autonomous driving is the result of determining that the vehicle enters the autonomous driving mode. The steering wheel interlocked with the wheel can be controlled so that it does not move.

The steering control module 230 may control the airbag module according to a result of determining whether the vehicle enters autonomous driving.

In one example, when it is determined that the vehicle has not entered the autonomous driving mode, the steering control module 230 may control the movement of the vehicle not to be reflected through the airbag module.

That is, when the steering control module 230 determines whether the vehicle enters autonomous driving mode, the vehicle does not enter the autonomous driving mode (or maintains normal driving of the vehicle), the airbag module detects the movement of the vehicle. It can be controlled not to be reflected.

In another example, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 may control the movement of the vehicle to be reflected through the airbag module.

That is, the steering control module 230 may control the airbag module to reflect the movement of the vehicle when the result of determining whether the vehicle enters the autonomous driving mode is the determination result that the vehicle enters the autonomous driving mode.

In particular, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 may control the airbag module to move in accordance with the steering state of the vehicle.

For example, the steering control module 230 may control the driving of the actuator 220 connected to the airbag module so that the airbag module moves corresponding to the steering state of the vehicle. That is, the steering control module 230 may control the driving of the actuator 220 connected to the airbag module to control the airbag module to rotate corresponding to the steering state of the vehicle.

Specifically, the steering control module 230 may control the driving of the actuator 220 connected to the airbag module so that the airbag module moves correspondingly to steering angle information.

That is, the steering control module 230 controls the wheels based on the steering angle information, controls the steering wheel interlocked with the wheels not to move, and controls the airbag module to move correspondingly to the steering angle information. Driving of the actuator 220 may be controlled.

In other words, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 adjusts the wheels (eg, the direction of the wheels) based on steering angle information (eg, target steering angle information). control (eg rotation, etc.).

In addition, the steering control module 230 may control the steering wheel interlocked with the wheel not to move while the wheel is controlled.

In addition, the steering control module 230 may control driving of the actuator 220 connected to the airbag module based on steering angle information so that the steering angle state of the vehicle may appear on the airbag module.

In addition, the steering control module 230 may control the driving of the actuator 220 connected to the airbag module so that the airbag module moves corresponding to wheel rotation information.

That is, the steering control module 230 controls the wheel based on the steering angle information, controls the steering wheel interlocked with the wheel not to move, and controls the airbag module and the airbag module to move correspondingly to the rotation information of the wheel. Driving of the connected actuator 220 may be controlled.

In other words, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 adjusts the wheels (eg, the direction of the wheels) based on steering angle information (eg, target steering angle information). control (eg rotation, etc.).

In addition, the steering control module 230 may control the steering wheel interlocked with the wheel not to move while the wheel is controlled.

In addition, the steering control module 230 may control driving of the actuator 220 connected to the airbag module based on wheel rotation information so that the wheel rotation state may be displayed in the airbag module.

Here, the steering control module 230 may control the driving of the actuator 220 so that the air bag module moves within a range of 0 degrees to 180 degrees.

That is, the steering control module 230 controls the driving of the actuator 220 connected to the airbag module within a range of 0 degrees to 180 degrees to control the airbag module to move within a range of 0 degrees to 180 degrees. can

The steering wheel 240 may be moved by a driver's manipulation. That is, the steering wheel 240 can be rotated by a driver's manipulation.

In particular, the steering wheel 240 according to the present embodiments can control the movement of the steering wheel 240 according to a result of determining whether the vehicle enters autonomous driving.

In one example, when it is determined that the vehicle does not enter the autonomous driving mode, the movement of the steering wheel 240 may be controlled by the driver.

In another example, when it is determined that the vehicle has entered the autonomous driving mode, the steering wheel 240 may be controlled not to move.

The sensor 250 may include at least one. The sensor 250 may obtain vehicle state information by measuring the state of the vehicle. The sensor 250 may provide vehicle state information to the control module.

Here, the sensor 250 is a steering angle sensor, steering torque sensor, steering motor position sensor, position sensor, temperature sensor, current sensor, steering torque & steering angle sensor, vehicle speed sensor, yaw sensor, wheel position sensor, wheel displacement It may include at least one of a sensor and a sensor related to the actuator 220, but is not limited thereto, and may include any sensor as long as vehicle state information can be obtained by measuring the state of the vehicle.

Here, the vehicle state information includes steering angle information, steering torque information, steering motor location information, information related to the actuator 220 (eg, location information, torque information, and each information), vehicle speed information, and wheel-related information ( For example, at least one of rotation information, rotation direction information, speed information, etc.) may be included, but the information is not limited thereto and any information related to the state of the vehicle may be included.

The steering motor 260 may be connected to the steering control module 230 . The operation of the steering motor 260 may be controlled by the steering control module 230 .

That is, the steering control module 230 may generate an assist current based on at least one of steering angle information and steering torque information, and control the steering motor 260 based on the assist current. Through this, the steering motor 260 may generate auxiliary steering force to move the wheels.

The interlocking unit 270 may interlock (or connect) the steering wheel 240 and the wheels.

For example, the steering wheel 240 and the wheels may be mechanically interlocked (or connected) through the interlocking unit 270 . That is, the interlocking unit 270 receives rotational force from a steering operation unit (eg, a steering shaft, a steering column intermediate shaft, etc.) that provides rotational force of the steering wheel 240, and reduces rotation by receiving rotational force from the steering operation unit and increasing torque to change the direction of movement. A steering gear unit (for example, a worm sector type, a worm sector roller type, a ball nut type, a variable gear ratio type, a rack pinion type, etc.) and a steering link that changes the angle of the wheel by transferring the motion of the steering gear to the wheel It may include parts (eg, a rack, a tie rod, a knuckle arm, etc.), but is not limited thereto, and includes any device as long as it can mechanically interlock (or connect) the steering wheel 240 and the wheel. can do. In particular, the linkage may include a clutch.

Meanwhile, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 controls the interlocking unit 270 so that the steering wheel 240 interlocked with the wheels does not move so that the steering wheel 240 and the wheels do not move. It can block the mechanical interlocking of the liver.

In addition, the steering wheel 240 and the wheels may be electrically interlocked (or connected) through an interlocking unit.

For example, the steering wheel 240 and the wheels may be electrically (or electronically) interlocked (or connected) through the interlocking unit 270 . That is, the interlocking unit may include a steering column module connected to the steering wheel and a steering rack module mechanically separated from the steering column module and connected to the wheel.

Here, the steering column module and the steering rack module may be electrically interlocked (or connected). That is, the steering column module and the steering rack module may be connected to each other through a communication network, and may also be connected to the steering control module through a communication network.

Here, the steering column module may include a steering reaction force motor that provides a steering reaction force to a steering shaft and a steering wheel. In addition, the steering rack module includes a drive motor that generates drive torque, a pinion that performs rotational motion based on the drive torque generated by the drive motor, and a rack and rack that performs linear motion based on the rotational motion of the pinion. It may include a tie rod and a knuckle arm positioned between the wheel and the wheel.

Meanwhile, when it is determined that the vehicle has entered the autonomous driving mode, the steering control module 230 controls the interlocking unit 270 so that the steering wheel 240 interlocked with the wheels does not move so that the steering wheel 240 and the wheels do not move. It can block the electrical interlock between the liver.

4 to 6 are specific views for explaining a steering device including a steering wheel, an indicator, and an actuator according to the present embodiments.

Referring to FIG. 4 , the steering device according to the present embodiments may include a steering wheel 240, an indicator 210, and an actuator 220.

The steering wheel 240 may be interlocked with the wheel.

Indicator 210 may be located on steering wheel 240 . As shown in the drawing, the indicator 210 may be located at the center of the steering wheel 240, but is not limited thereto and may be located anywhere on the steering wheel 240.

Although not shown in the drawing, as shown in FIG. 5 , the actuator 220 may be connected to the indicator 210 to control driving of the indicator 210 .

That is, when the actuator 220 determines that the vehicle has entered the autonomous driving mode and controls the steering wheel 240 interlocked with the vehicle wheel not to move, the indicator 210 adjusts the movement of the vehicle to be reflected in the indicator 210. can drive

Although not shown in the drawing, the actuator 220 may be located below the indicator 210, that is, between the indicator 210 and the steering wheel 240, as shown in FIG. 5, but is not limited thereto, and the indicator 210 ), the location is free.

As described above, the steering wheel 240 and the indicator 210 according to the present embodiments may operate differently depending on whether the vehicle enters the autonomous driving mode. That is, when the vehicle does not enter the autonomous driving mode, that is, when the vehicle is in the normal driving mode, the steering wheel 240 interlocked with the wheels may be rotated by the driver, but the indicator 210 may not be rotated.

On the other hand, when the vehicle enters the autonomous driving mode, the steering wheel 240 interlocked with the wheels may not rotate, but the indicator 210 may rotate according to the steering state of the vehicle.

Referring to FIG. 5 , the steering device according to the present embodiments may include a steering wheel 240, an indicator 210, and an actuator 220.

The steering wheel 240 may be interlocked with the wheel.

Indicator 210 can be located on steering wheel 240 . As shown in the drawing, the indicator 210 may be located at the center of the steering wheel 240, but is not limited thereto and may be located anywhere on the steering wheel 240.

Here, the indicator 210 may be an air bag module 211.

Here, the actuator 220 may include a motor 221 .

The motor 221 may be connected to the air bag module 211 to control driving of the air bag module 211 .

That is, when the motor 221 determines that the vehicle has entered the autonomous driving mode and controls the steering wheel 240 interlocked with the vehicle wheel not to move, the airbag module 211 reflects the movement of the vehicle. module 211 can be driven.

As shown in the drawing, the motor 221 may be located under the airbag module 211, that is, between the airbag module 211 and the steering wheel 240, but is not limited thereto, and the airbag module 211 ), the location is free.

As described above, the steering wheel 240 and the airbag module 211 according to the present exemplary embodiments may operate differently depending on whether the vehicle enters the autonomous driving mode. That is, when the vehicle does not enter the autonomous driving mode, that is, when the vehicle is in the normal driving mode, the steering wheel 240 interlocked with the wheels may be rotated by the driver, but the airbag module 211 may not be rotated.

On the other hand, when the vehicle enters the autonomous driving mode, the steering wheel 240 that is interlocked with the wheels may not rotate, but the airbag module 211 may rotate according to the steering state of the vehicle.

Referring to FIG. 6 , the steering device according to the present embodiments may include a steering wheel 240, an air bag module 211, and an actuator 220.

The airbag module 211 may be located on the steering wheel 240. As shown in the drawing, the airbag module 211 may be located at the center of the steering wheel 240, but is not limited thereto and may be located anywhere on the steering wheel 240.

Although not shown in the drawing, as shown in FIG. 5 , the motor 221 may be connected to the air bag module 211 to control driving of the air bag module 211 .

That is, when the motor 221 determines that the vehicle has entered the autonomous driving mode and controls the steering wheel 240 interlocked with the vehicle wheel not to move, the airbag module 211 reflects the movement of the vehicle. module 211 can be driven.

Although not shown in the drawing, as shown in FIG. 5, the motor 221 may be located under the air bag module 211, that is, between the air bag module 211 and the steering wheel 240, but is not limited thereto. If not, and the air bag module 211 can be driven, the position is free.

As described above, the steering wheel 240 and the airbag module 211 according to the present exemplary embodiments may operate differently depending on whether the vehicle enters the autonomous driving mode. That is, when the vehicle does not enter the autonomous driving mode, that is, when the vehicle is in the normal driving mode, the steering wheel 240 interlocked with the wheels may be rotated by the driver, but the airbag module 211 may not be rotated.

On the other hand, when the vehicle enters the autonomous driving mode, the steering wheel 240 that is interlocked with the wheels may not rotate, but the airbag module 211 may rotate according to the steering state of the vehicle.

Here, the rotation range of the airbag module 211 may have a range of 0 degrees to 180 degrees. In particular, as shown in the figure, the rotation range of the airbag module 211 may have ±90 degrees or ±60 degrees.

Meanwhile, the indicator 210 according to the present embodiments has been described as including the air bag module 211, but is not limited thereto. That is, although the description of including the indicator 210 may be a broader concept than the airbag module 211. The indicator 210 may be included in the airbag module 211, the indicator 210 may be the airbag module 211, and the indicator 210 and the airbag module 211 are not limited thereto. It can be interpreted as meaning that they can exist together.

The steering control device 100 and the steering device 200 according to the present embodiments may include an Electronic Control Unit (ECU), but are not limited thereto, and any electronically controllable device (or system) It may also include a control device (or system).

Hereinafter, a steering control method according to the present embodiments will be described with reference to the accompanying drawings. Particularly, parts overlapping with the steering control device and the steering device according to the present embodiments described above with reference to FIGS. 1 to 6 are omitted below for simplicity of description.

The steering control method according to the present embodiments may be performed through the steering control device 100 and the steering device 200 .

In the steering control method according to the present embodiments, according to the step of determining whether the vehicle has entered autonomous driving and the result of determining whether the vehicle has entered autonomous driving, the steering wheel interlocked with the wheel is controlled not to move, and an indicator is displayed. and controlling the movement of the vehicle to be reflected through the method.

7 is an overall flowchart for explaining a steering control method according to the present embodiments.

Referring to FIG. 7 , the steering control method according to the present embodiments may include a step of determining whether a vehicle enters autonomous driving and a step of controlling a steering wheel and an indicator.

First, it may be determined whether or not the vehicle enters autonomous driving (S100).

After that, it is possible to control the steering wheel and the indicator (S200).

For example, a steering wheel and an indicator may be controlled according to a result of determining whether the vehicle enters autonomous driving in step S100.

In particular, in step S200, according to the result of determining whether the vehicle has entered autonomous driving, the steering wheel interlocked with the wheels may be controlled not to move, and the movement of the vehicle may be controlled to be reflected through an indicator.

Here, the indicator may include an A-bag module.

Accordingly, in step S200, the steering wheel and the A-back module may be controlled according to the result of determining whether the vehicle enters autonomous driving in step S100.

In particular, in step S200, according to the result of determining whether or not the vehicle enters autonomous driving, the steering wheel interlocked with the wheel is controlled not to move, and the movement of the vehicle can be controlled to be reflected through the A-back module.

8 is an overall flowchart for explaining a method of determining whether a vehicle enters autonomous driving according to the present embodiments.

Referring to FIG. 8 , in step S110 , at least one of vehicle state information, driver input information, and surrounding state information of the vehicle may be provided from the vehicle. Then, in step S110, whether or not the vehicle enters autonomous driving may be determined based on at least one of vehicle state information, driver input information, and surrounding state information provided from the vehicle.

Then, in step S110, a result of determining whether or not the vehicle enters autonomous driving may be generated.

In one example, in step S110, when it is determined that the vehicle has entered the autonomous driving mode, a determination result indicating that the vehicle has entered autonomous driving may be generated. In particular, in step S110, when the driver selects the autonomous driving mode, it may be determined that the vehicle has entered the autonomous driving mode. And, in step S110, the determination result that the vehicle enters autonomous driving may be provided in step S210 or step S230.

In another example, in step S110, when it is determined that the vehicle has not entered the autonomous driving mode, a determination result indicating that the vehicle has not entered autonomous driving (or the vehicle is maintained in normal driving) may be generated. Then, in step S110, the determination result that the autonomous driving of the vehicle is not entered (or the vehicle is maintained in normal driving) may be provided in step S220 or step S240.

9 and 10 are overall flowcharts for explaining a method of controlling a steering wheel and an indicator according to the present embodiments.

Referring to FIG. 9 , in step S210, when it is determined that the vehicle has entered the autonomous driving mode, at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel is blocked so that the steering wheel interlocked with the wheel does not move. , the movement of the vehicle can be controlled to be reflected through an indicator.

Specifically, when it is first determined that the vehicle has entered the autonomous driving mode, at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel may be blocked so that the steering wheel interlocked with the wheel does not move (S211).

That is, in step S211, if the result of determining whether the vehicle enters autonomous driving provided in step S110 is the result of determining that the vehicle enters the autonomous driving mode, at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheels is blocked. Thus, the steering wheel interlocked with the wheel can be controlled not to move.

Thereafter, when it is determined that the vehicle has entered the autonomous driving mode, the movement of the vehicle may be controlled to be reflected through an indicator (S212).

That is, in step S212, if the result of determining whether the vehicle entered autonomous driving provided in step S110 is the result of determining that the vehicle enters the autonomous driving mode, the indicator may be controlled to reflect the movement of the vehicle.

In particular, in step S212, when it is determined that the vehicle has entered the autonomous driving mode, the indicator may be controlled to move in accordance with the steering state of the vehicle.

For example, in step S212, driving of an actuator connected to the indicator may be controlled so that the indicator moves in accordance with the steering state of the vehicle. That is, in step S212, the driving of the actuator connected to the indicator may be controlled so that the indicator rotates in accordance with the steering state of the vehicle.

Specifically, in step S212, driving of an actuator connected to the indicator may be controlled so that the indicator moves in correspondence with steering angle information.

That is, in step S210, the wheels are controlled based on the steering angle information, the steering wheel interlocked with the wheels is controlled not to move, and the driving of the actuator connected to the indicator is controlled so that the indicator moves in accordance with the steering angle information. .

In other words, in step S211, when it is determined that the vehicle has entered the autonomous driving mode, the wheels (eg, the direction of the wheels, etc.) are controlled (eg, the direction of the wheels) based on steering angle information (eg, target steering angle information, etc.) , rotation, etc.)

In addition, in step S211, while the wheels are controlled, the steering wheel interlocked with the wheels may be controlled not to move.

In addition, in step S212, driving of the actuator connected to the indicator may be controlled based on the steering angle information so that the steering angle state of the vehicle may be displayed on the indicator.

In addition, in step S212, driving of an actuator connected to the indicator may be controlled so that the indicator moves in accordance with wheel rotation information.

That is, in step S210, the wheels are controlled based on the steering angle information, the steering wheel interlocked with the wheels is controlled not to move, and the driving of the actuator connected to the indicator is controlled so that the indicator moves in accordance with the wheel rotation information. there is.

In other words, in step S211, when it is determined that the vehicle has entered the autonomous driving mode, the wheels (eg, the direction of the wheels, etc.) are controlled (eg, the direction of the wheels) based on steering angle information (eg, target steering angle information, etc.) , rotation, etc.)

In addition, in step S211, while the wheels are controlled, the steering wheel interlocked with the wheels may be controlled not to move.

In addition, in step S212, driving of an actuator connected to the indicator may be controlled based on wheel rotation information so that the wheel rotation state may be displayed on the indicator.

Here, in step S212, driving of the actuator may be controlled so that the indicator moves within a range of 0 degrees to 180 degrees.

That is, in step S212, the driving of the actuator connected to the indicator is controlled within a range of 0 degrees to 180 degrees, so that the indicator can be controlled to move within a range of 0 degrees to 180 degrees.

Referring to FIG. 10 , in step S220, when it is determined that the vehicle has not entered the autonomous driving mode, mechanical interlocking and electrical interlocking between the steering wheel and the wheel may not be blocked so that the steering wheel interlocked with the wheel moves, and the indicator It is possible to control the movement of the vehicle not to be reflected through the (indicator).

Specifically, when it is first determined that the vehicle has not entered the autonomous driving mode, mechanical and electrical interlock between the steering wheel and the wheel may not be blocked so that the steering wheel interlocked with the wheel moves (S221).

That is, in step S221, if the result of determining whether the vehicle enters autonomous driving provided in step S110 is the result of determining that the vehicle does not enter the autonomous driving mode (or maintains normal driving of the vehicle), mechanical interlocking between the steering wheel and the wheels occurs. and the steering wheel interlocked with the wheel can be controlled to move without blocking the electrical interlocking.

Thereafter, when it is determined that the vehicle has not entered the autonomous driving mode, the movement of the vehicle may be controlled not to be reflected through an indicator (S222).

That is, in step S222, if the result of determining whether the vehicle enters autonomous driving provided in step S110 is the determination result that the vehicle does not enter the autonomous driving mode (or maintains normal driving of the vehicle), an indicator indicates the level of the vehicle. It can be controlled so that motion is not reflected.

11 and 12 are overall flowcharts for explaining a method of controlling a steering wheel and an airbag module according to the present embodiments.

Referring to FIG. 11, in step S230, when it is determined that the vehicle has entered the autonomous driving mode, at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel is blocked so that the steering wheel interlocked with the wheel does not move. , It is possible to control the motion of the vehicle to be reflected through the air bag module.

Specifically, when it is first determined that the vehicle has entered the autonomous driving mode, at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel may be blocked so that the steering wheel interlocked with the wheel does not move (S231).

That is, in step S231, if the result of determining whether the vehicle enters autonomous driving provided in step S110 is the result of determining that the vehicle enters the autonomous driving mode, at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheels is blocked. Thus, the steering wheel interlocked with the wheel can be controlled not to move.

Thereafter, when it is determined that the vehicle has entered the autonomous driving mode, the airbag module may control the movement of the vehicle to be reflected (S232).

That is, in step S232, if the result of determining whether the vehicle entered autonomous driving provided in step S110 is the determination result that the vehicle enters the autonomous driving mode, the airbag module may be controlled to reflect the movement of the vehicle.

In particular, in step S232, when it is determined that the vehicle has entered the autonomous driving mode, the airbag module may be controlled to move in accordance with the steering state of the vehicle.

For example, in step S232, driving of an actuator connected to the airbag module may be controlled so that the airbag module moves corresponding to the steering state of the vehicle. That is, in step S232, the airbag module may be controlled to rotate corresponding to the steering state of the vehicle by controlling the driving of the actuator connected to the airbag module.

Specifically, in step S232, driving of an actuator connected to the airbag module may be controlled so that the airbag module moves correspondingly to steering angle information.

That is, in step S230, the wheels are controlled based on the steering angle information, the steering wheel interlocked with the wheels is controlled not to move, and the actuator connected to the airbag module is driven so that the airbag module moves correspondingly to the steering angle information. You can control it.

In other words, in step S231, when it is determined that the vehicle has entered the autonomous driving mode, the wheels (eg, the direction of the wheels, etc.) are controlled (eg, the direction of the wheels) based on steering angle information (eg, target steering angle information, etc.) , rotation, etc.)

In addition, in step S231, while the wheels are controlled, the steering wheel interlocked with the wheels may be controlled not to move.

In addition, in step S232, the driving of the actuator connected to the airbag module may be controlled based on the steering angle information so that the steering angle state of the vehicle may be displayed on the airbag module.

Also, in step S232, driving of an actuator connected to the airbag module may be controlled so that the airbag module moves in accordance with wheel rotation information.

That is, in step S230, the steering wheel is controlled based on the steering angle information, the steering wheel interlocked with the wheel is controlled not to move, and the actuator connected to the airbag module is driven so that the airbag module moves in accordance with the wheel rotation information. can control.

In other words, in step S231, when it is determined that the vehicle has entered the autonomous driving mode, the wheels (eg, the direction of the wheels, etc.) are controlled (eg, the direction of the wheels) based on steering angle information (eg, target steering angle information, etc.) , rotation, etc.)

In addition, in step S231, while the wheels are controlled, the steering wheel interlocked with the wheels may be controlled not to move.

In addition, in step S232, the driving of the actuator connected to the airbag module may be controlled based on the wheel rotation information so that the wheel rotation state may be displayed on the airbag module.

Here, in step S232, the driving of the actuator may be controlled so that the airbag module moves within a range of 0 degrees to 180 degrees.

That is, in step S232, the airbag module may be controlled to move within a range of 0 to 180 degrees by controlling the driving of the actuator connected to the airbag module within a range of 0 degrees to 180 degrees.

Referring to FIG. 12 , in step S240, when it is determined that the vehicle has not entered the autonomous driving mode, mechanical interlocking and electrical interlocking between the steering wheel and the wheel may not be blocked so that the steering wheel interlocked with the wheel moves. Through the back module, the movement of the vehicle can be controlled not to be reflected.

Specifically, first, when it is determined that the vehicle has not entered the autonomous driving mode, mechanical and electrical interlocking between the steering wheel and the wheel may not be blocked so that the steering wheel interlocked with the wheel moves (S241).

That is, in step S241, if the result of determining whether the vehicle enters autonomous driving provided in step S110 is the determination result that the vehicle does not enter the autonomous driving mode (or maintains normal driving of the vehicle), mechanical interlock between the steering wheel and the wheels and the steering wheel interlocked with the wheel can be controlled to move without blocking the electrical interlocking.

Subsequently, when it is determined that the vehicle has not entered the autonomous driving mode, the airbag module may control the movement of the vehicle not to be reflected (S242).

That is, in step S242, if the result of determining whether the vehicle enters autonomous driving provided in step S110 is the determination result that the vehicle does not enter the autonomous driving mode (or maintains normal driving of the vehicle), the airbag module moves the vehicle. This can be controlled not to be reflected.

Hereinafter, a computer system according to the present embodiments will be described with reference to the accompanying drawings.

13 is a block diagram of a steering control device and a computer system of the steering device according to the present embodiments.

Referring to FIG. 13 , the embodiments described above may be implemented in a computer system, for example, a computer readable recording medium. As shown in the drawing, a computer system 1000 such as a steering control device and a steering device includes one or more processors 1010, memory 1020, storage unit 1030, user interface input unit 1040, and user interface output unit. It may include at least one or more elements of 1050, and they may communicate with each other through bus 1060. In addition, computer system 1000 may also include a network interface 1070 for connecting to a network. Processor 1010 may be a CPU or semiconductor device that executes processing instructions stored in memory 1020 and/or storage 1030 . The memory 1020 and the storage unit 1030 may include various types of volatile/non-volatile storage media. For example, the memory may include ROM 1021 and RAM 1023 .

Accordingly, the present embodiments may be implemented as a computer-implemented method or a non-volatile computer recording medium in which computer-executable instructions are stored. The instructions may perform a method according to at least one embodiment of the present embodiments when executed by a processor.

As described above, the steering control apparatus and method according to the present embodiments and the steering apparatus control the steering wheel not to move, and display an indicator according to the result of determining whether the vehicle enters autonomous driving. By controlling the movement of the vehicle to be reflected through the control system, it is possible to eliminate the sense of discomfort caused by the rotation of the steering wheel during autonomous driving of the vehicle, and to enable the perception of autonomous driving, as well as unnecessary movement of the steering wheel, that is, the steering motor and steering reaction force. It is possible to increase fuel efficiency by eliminating unnecessary movement of the motor and the like.

Although the steering control device and method according to the above embodiments and the embodiments of the steering device have been described, the embodiments are not limited thereto, and the scope of the claims and detailed description of the invention and the accompanying drawings It is possible to perform various modifications in the inside, and this also belongs to the present embodiments.

100: steering control device
110: determination unit 120: control unit
200: steering device
210: indicator 220: actuator
230: steering control module 240: steering wheel
250: sensor 260: steering motor
270: interlocking unit

Claims (20)

a determination unit that determines whether the vehicle enters autonomous driving; and
According to the result of determining whether the vehicle enters autonomous driving, a control unit that controls the steering wheel to be interlocked with the wheel so that it does not move and controls the movement of the vehicle to be reflected through an indicator,
The control unit,
When it is determined that the vehicle has entered the autonomous driving mode, the indicator is controlled to move in accordance with the steering state of the vehicle,
The control unit,
A steering control device for controlling driving of an actuator connected to the indicator so that the indicator moves in accordance with a steering state of the vehicle.
According to claim 1,
The control unit,
A steering control device that blocks at least one of mechanical interlocking and electrical interlocking between a steering wheel and a wheel so that a steering wheel interlocked with the wheel does not move when it is determined that the vehicle has entered an autonomous driving mode.
delete delete According to claim 1,
The control unit,
A steering control device for controlling wheels based on steering angle information, controlling a steering wheel interlocked with the wheel not to move, and controlling driving of an actuator connected to the indicator so that the indicator moves correspondingly to the steering angle information.
According to claim 1,
The control unit,
A steering control device for controlling a wheel based on steering angle information, controlling a steering wheel interlocked with the wheel not to move, and controlling driving of an actuator connected to the indicator so that the indicator moves in accordance with rotation information of the wheel.
According to claim 6,
The control unit,
A steering control device for controlling driving of the actuator so that the indicator moves within a range of 0 degrees to 180 degrees.
According to claim 1,
The indicator is
A steering control device comprising an air bag module located on a steering wheel.
an indicator located on the steering wheel; and
A steering device including an actuator that drives the indicator so that the movement of the vehicle is reflected on the indicator when it is determined that the vehicle has entered the autonomous driving mode and the steering wheel interlocked with the wheel is controlled not to move.
According to claim 9,
If it is determined that the vehicle has entered the autonomous driving mode and the steering wheel interlocked with the wheel does not move,
A steering device comprising a case in which at least one of mechanical interlocking and electrical interlocking between a steering wheel and a wheel is blocked.
According to claim 9,
The actuator,
A steering device that drives the indicator so that the indicator moves in accordance with a steering state of the vehicle.
According to claim 9,
The actuator,
When it is determined that the vehicle has entered the autonomous driving mode and the wheels are controlled based on the steering angle information and the steering wheel interlocked with the wheels is controlled not to move, the indicator is driven so that the indicator moves in accordance with the steering angle information. steering gear to do.
According to claim 9,
The actuator,
When it is determined that the vehicle has entered the autonomous driving mode, and the wheels are controlled based on steering angle information and the steering wheel interlocked with the wheels is controlled not to move, the indicator is set so that the indicator moves in accordance with wheel rotation information. driving steering gear.
According to claim 13,
The actuator,
A steering device that drives the indicator so that the indicator moves within a range of 0 degrees to 180 degrees.
According to claim 9,
The indicator is
A steering system comprising an air bag module.
Determining whether the vehicle enters autonomous driving; and
Depending on the result of determining whether the vehicle enters autonomous driving, controlling the steering wheel interlocked with the wheel so as not to move and controlling the movement of the vehicle to be reflected through an indicator,
In the step of controlling the steering wheel interlocked with the wheel not to move according to the result of determining whether the vehicle enters autonomous driving and controlling the movement of the vehicle to be reflected through an indicator,
blocking at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel does not move when it is determined that the vehicle has entered the autonomous driving mode; and
Including the step of controlling so that the movement of the vehicle is reflected through an indicator,
The step of controlling so that the movement of the vehicle is reflected through the indicator,
and controlling driving of an actuator connected to the indicator so that the indicator moves corresponding to a steering state of the vehicle.
delete delete 17. The method of claim 16,
When it is determined that the vehicle has entered the autonomous driving mode, blocking at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel does not move,
controlling wheels based on steering angle information when it is determined that the vehicle has entered an autonomous driving mode; and
Blocking at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocked with the wheel does not move,
The step of controlling so that the movement of the vehicle is reflected through the indicator,
and controlling driving of an actuator connected to the indicator so that the indicator moves correspondingly to steering angle information.
17. The method of claim 16,
When it is determined that the vehicle has entered the autonomous driving mode, blocking at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocking with the wheel does not move,
controlling wheels based on steering angle information when it is determined that the vehicle has entered an autonomous driving mode; and
Blocking at least one of mechanical interlocking and electrical interlocking between the steering wheel and the wheel so that the steering wheel interlocked with the wheel does not move,
The step of controlling so that the movement of the vehicle is reflected through the indicator,
and controlling driving of an actuator connected to the indicator so that the indicator moves corresponding to wheel rotation information.

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