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US 11,884,343 B2Granted
Steering feel assisting apparatus of steer-by-wire system
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorsSang Woo Hwang, Young Dae Park, Byung Rim Lee, Min Jun Kim, Se Hyun Chang, Hyeon Seok Cho
Life of this patent
Estimating the term…
Abstract
A steering feel assisting apparatus of a steer-by-wire (SBW) system, may include a disk configured to rotate together with a steering shaft; a cam engaged to an actuator and configured to receive a rotational force of the actuator to be eccentrically rotated; and a brake arm configured to selectively friction-contact with an external peripheral surface of the disk to provide a predetermined frictional force in a forward rotation direction of the disk as the brake arm rotates in conjunction with rotation of the cam.
Claims18
A steering feel assisting apparatus of a steer-by-wire (SBW) system, the steering feel assisting apparatus comprising:
- a disk connected to a steering shaft and configured to rotate with the steering shaft;
- a cam engaged to an actuator and configured to receive a rotational force of the actuator to be eccentrically rotated;
- a brake arm including a first end portion and a second end portion and configured to selectively friction-contact with an external peripheral surface of the disk to provide a predetermined frictional force in a forward rotation direction of the disk as the brake arm rotates in conjunction with a rotation of the cam;
- a steering feel motor configured to provide a steering feel to the steering shaft;
- a steering motor coupled to a rack bar and configured to provide a steering force to the rack bar;
- and
- a controller electrically connected to a steering angle sensor, the steering feel motor, the steering motor and the actuator and configured to selectively provide the steering feel in a forward rotation direction of the steering shaft by controlling an operation of the steering feel motor or the actuator according to a steering angle and a torque value of the steering motor,
- wherein the brake arm includes a first brake arm and a second brake arm provided on a first side and a second side of the cam, respectively,
- wherein one or both of the second end portions of the first and second brake arms friction-contacts with a point of a rotation radius of the cam, which contacts with the external peripheral surface of the disk while drawing a tangential line, and
- wherein the controller is configured to restrict a rotation of the steering shaft by generating a maximum repulsive force in the steering feel motor when an absolute value of a target torque of the steering motor is equal to or greater than an absolute value of a threshold torque and a differential value of the absolute value of the target torque is more than 0.
7 more elements
A method of controlling a steering feel assisting apparatus including a disk connected to a steering shaft and configured to rotate with the steering shaft;
- a cam engaged to an actuator and configured to receive a rotational force of the actuator to be eccentrically rotated;
- a brake arm including first and second brake arms provided on a first side and a second side of the cam, respectively and including a first end portion and a second end portion, and configured to selectively friction-contact with an external peripheral surface of the disk to provide a predetermined frictional force in a forward rotation direction of the disk as the first and second brake arms rotate in conjunction with a rotation of the cam;
- a steering feel motor configured to provide a steering feel to the steering shaft;
- and a steering motor coupled to a rack bar and configured to provide a steering force to the rack bar, the method comprising:
- selectively, by a controller electrically connected to a steering angle sensor, the steering feel motor, the actuator and the steering motor, providing the steering feel in a forward rotation direction of the steering shaft by controlling an operation of the steering feel motor or the actuator according to a steering angle and a torque value of the steering motor,
- restricting, by the controller, a rotation of the steering shaft by generating a maximum repulsive force in the steering feel motor when an absolute value of a target torque of the steering motor is equal to or greater than an absolute value of a threshold torque and a differential value of the absolute value of the target torque is more than 0, and
- controlling, by the controller, the first brake arm and the second brake arm to be released from friction-contact with the disk when the absolute value of the target torque is less than the absolute value of the threshold torque and the absolute value of the steering angle is less than a restraint angle after the maximum repulsive force is generated by the steering feel motor,
- wherein one or both of the second end portions of the first and second brake arms friction-contacts with a point of a rotation radius of the cam, which contacts with the external peripheral surface of the disk while drawing a tangential line.
5 more elements
Dependencies are inferred from the claim text.