Apparatus for controlling steering angle, lane keeping assist system having the same and method thereof
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorsHoi Won Kim, Dae Young Kim
Life of this patent
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Abstract
An apparatus for controlling a steering angle, a system including the same, and a method thereof are provided may include a steering angle gain variation determination device that determines an increase or a decrease of a steering angle gain variation rate depending on a steering angle error value, a steering angle gain determination device that determines a steering angle gain based on the steering angle gain variation rate, a steering angle gain regulation device that determines a final gain by reflecting a driver intention in a steering angle gain, and a steering torque determination device that determines steering torque by use of the final gain.
Claims20
An apparatus for controlling a steering angle, the apparatus comprising:
- a steering angle gain variation determination device configured to determine an increase or a decrease of a steering angle gain variation rate depending on a steering angle error value;
- a steering angle gain determination device configured to determine a steering angle gain based on the steering angle gain variation rate;
- a steering angle gain regulation device configured to determine a final gain in which a driver's intention is reflected in the steering angle gain;
- and
- a steering torque determination device configured to determine a steering torque by use of the final gain,
- wherein the steering angle gain variation determination device is configured to determine an increase variation rate by use of an initial gain, a maximum gain, and a time taken from the initial gain to the maximum gain.
A lane keeping assist system comprising:
- a steering angle detector configured to detect a steering angle of a vehicle to output an actual steering angle;
- a lane keeping location control device configured to determine and output a required steering angle for lane keeping by the vehicle;
- a torque detector configured to detect and output a torque value of the vehicle;
- and
- a steering angle control apparatus configured to regulate a steering angle gain depending on a steering angle error value which is a difference value between the actual steering angle and the required steering angle,
- wherein the steering angle control apparatus is configured to determine an increase variation rate by use of an initial gain, a maximum gain, and a time taken from the initial gain to the maximum gain.
A method of controlling a steering angle, the method comprising:
- determining an increase or a decrease of a steering angle gain variation rate depending on a steering angle error value;
- determining a steering angle gain based on the steering angle gain variation rate;
- determining a final gain in which a driver's intention is reflected in the steering angle gain;
- and
- determining steering torque by use of the final gain,
- wherein the determining of the increase or the decrease of the steering angle gain variation rate includes determining an increase variation rate by use of an initial gain, a maximum gain, and a time taken from the initial gain to the maximum gain.
Dependencies are inferred from the claim text.