# US 12,005,978 B2 · Steering control device, steering control method, and steering support system including same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,978 B2 - Document ID: US12005978B2 - Status: Granted - Kind: B2 - Application number: 17/637,112 - Filed: 2020-08-26 - Published: 2022-10-27 - Granted: 2024-06-11 - Earliest claimed: 2019-08-30 - Assignees: Hl Mando Corporation - Applicants: Hl Mando Corporation - Inventors: Je Hyeon Yeon - Web page: https://patentgrep.com/patent/US12005978B2 ## CPC - B62D 6/008: {Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications} - B62D 6/007: {adjustable by the driver, e.g. sport mode} - B62D 5/0472: {for damping vibrations} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) ## Abstract Disclosed are a steering control device, a steering control method, and a steering support system including same. Particularly, the steering control device according to the present disclosure comprises: a noise frequency calculation unit for calculating the noise frequency of noise transmitted to a wheel; a noise frequency filtering unit for determining filtering degree on the basis of two or more driving modes, and filtering the noise frequency according to the filtering degree; and a reactive torque calculation unit for calculating reactive torque on the basis of the filtered noise frequency. ## Claims ### Claim 1 A steering control device, which filters a noise transmitted from a road surface to a wheel and calculates a reactive torque, comprising: a noise frequency calculator configured to calculate a noise frequency of the noise transmitted to the wheel; a noise frequency filter, electrically connected to the noise frequency calculator, configured to determine a filtering degree based on a driving mode selected from two or more driving modes, and filter the noise frequency according to the filtering degree, wherein each of the two or more driving modes has a predetermined filtering degree; a reactive torque calculator, electrically connected to the noise frequency filter, configured to calculate the reactive torque based on the filtered noise frequency; and a tuner, electrically connected to the noise frequency filter, configured to output a tuning signal corresponding to a user's tuning operation, wherein the noise frequency filter performs a fine adjustment of the filtering degree, according to the tuning signal, from the predetermined filtering degree of the selected driving mode selected from among the two or more driving modes. ### Claim 2 (depends on 1) The steering control device of claim 1, wherein the noise frequency calculator compares a rotation speed of the wheel with a target rotation speed, and calculates the noise frequency based on the comparison result. ### Claim 3 (depends on 1) The steering control device of claim 1, wherein the two or more driving modes include a normal mode, a comfort mode, and a sports mode which are classified according to driving characteristics, wherein the noise frequency filter sets a variable filter corresponding to the filtering degree determined based on the selected driving mode, and filters the noise frequency by using the variable filter. ### Claim 4 (depends on 3) The steering control device of claim 3, wherein the noise frequency filter sets a first variable filter for filtering by a first filtering degree if the driving mode is the normal mode, sets a second variable filter for filtering by a second filtering degree greater than the first filtering degree if the driving mode is the comfort mode, and sets a third variable filter for filtering by a third filtering degree smaller than the first filtering degree if the driving mode is the sports mode. ### Claim 5 (depends on 3) The steering control device of claim 3, wherein the variable filter is a low pass filter comprising a low pass cutoff frequency, and the low pass cutoff frequency is changed to a frequency corresponding to the filtering degree predetermined according to the driving mode. ### Claim 6 (depends on 5) The steering control device of claim 5, wherein, based on a frequency corresponding to a normal filtering degree in the normal mode, the low pass cutoff frequency is changed to be smaller than the frequency corresponding to the normal filtering degree if the driving mode is the comfort mode, and is changed to be greater than the frequency corresponding to the normal filtering degree if the driving mode is the sports mode. ### Claim 7 (depends on 3) The steering control device of claim 3, wherein the variable filter is a high pass filter comprising a high pass cutoff frequency, and the high pass cutoff frequency is changed to a frequency corresponding to the filtering degree predetermined according to the driving mode. ### Claim 8 (depends on 7) The steering control device of claim 7, wherein, based on a frequency corresponding to a normal filtering degree in the normal mode, the high pass cutoff frequency is changed to be greater than the frequency corresponding to the normal filtering degree if the driving mode is the comfort mode, and is changed to be smaller than the frequency corresponding to the normal filtering degree if the driving mode is the sports mode. ### Claim 9 (depends on 3) The steering control device of claim 3, wherein the variable filter is a band pass filter comprising a center frequency and a bandwidth, and at least one of the center frequency and the bandwidth is changed based on the filtering degree predetermined according to the driving mode. ### Claim 10 (depends on 9) The steering control device of claim 9, wherein, based on a frequency corresponding to a normal filtering degree in the normal mode, the center frequency is changed to be smaller or greater than the frequency corresponding to the normal filtering degree if the driving mode is the comfort mode or the sports mode. ### Claim 11 (depends on 9) The steering control device of claim 9, wherein, based on a bandwidth corresponding to a normal filtering degree in the normal mode, the bandwidth is changed to be greater than the bandwidth corresponding to the normal filtering degree if the driving mode is the comfort mode, and is changed to be smaller than the bandwidth corresponding to the normal filtering degree if the driving mode is the sports mode. ### Claim 12 (depends on 1) The steering control device of claim 1, wherein the noise frequency filter is configured to, receive a first signal or a second signal from a switch for changing an operation of the noise frequency filter, determine differently the filtering degree of the noise frequency based on the driving mode when receiving the first signal, and determine the same filtering degree regardless of the driving mode when receiving the second signal. ### Claim 13 A steering control method for filtering a noise transmitted from a road surface to a wheel and calculating a reactive torque, comprising: calculating a noise frequency of the noise transmitted to the wheel; determining a filtering degree based on a driving mode selected from two or more driving modes, wherein each of the two or more driving modes has a predetermined filtering degree; receiving a user's tuning operation and outputting a tuning signal; finely adjusting the filtering degree, according to the tuning signal, from the predetermined filtering degree of the selected driving mode selected from among the two or more driving modes; filtering the noise frequency according to the filtering degree; and calculating the reactive torque based on the filtered noise frequency. ### Claim 14 (depends on 13) The steering control method of claim 13, wherein the two or more driving modes include a normal mode, a comfort mode, and a sports mode which are classified according to driving characteristics, wherein, filtering the noise frequency comprises setting a variable filter corresponding to the filtering degree determined based on the selected driving mode, and filtering the noise frequency by using the variable filter. ### Claim 15 (depends on 14) The steering control method of claim 14, wherein filtering the noise frequency comprises, setting a first variable filter for filtering by a first filtering degree if the driving mode is the normal mode, setting a second variable filter for filtering by a second filtering degree greater than the first filtering degree if the driving mode is the comfort mode, and setting a third variable filter for filtering by a third filtering degree smaller than the first filtering degree if the driving mode is the sports mode. ### Claim 16 (depends on 14) The steering control method of claim 14, wherein the variable filter is a low pass filter comprising a low pass cutoff frequency, and the low pass cutoff frequency is changed to a frequency corresponding to the filtering degree predetermined according to the driving mode. ### Claim 17 (depends on 14) The steering control method of claim 14, wherein the variable filter is a high pass filter comprising a high pass cutoff frequency, and the high pass cutoff frequency is changed to a frequency corresponding to the filtering degree predetermined according to the driving mode. ### Claim 18 (depends on 14) The steering control method of claim 14, wherein the variable filter is a band pass filter comprising a center frequency and a bandwidth, and at least one of the center frequency and the bandwidth is changed based on the filtering degree predetermined according to the driving mode. ### Claim 19 (depends on 1) The steering control device of claim 1, wherein a range of the fine adjustment of the filtering degree available for one of the two or more driving modes does not overlap a range of the fine adjustment of the filtering degree available for others of the two or more driving modes.