# US 12,110,053 B2 · Steering control system, device, and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,053 B2 - Document ID: US12110053B2 - Status: Granted - Kind: B2 - Application number: 17/387,887 - Filed: 2021-07-28 - Published: 2022-02-03 - Granted: 2024-10-08 - Earliest claimed: 2020-07-29 - Assignees: Hl Mando Corporation - Applicants: Hl Mando Corporation - Inventors: Jung Mo Koo - Web page: https://patentgrep.com/patent/US12110053B2 ## CPC - B62D 5/0457: {characterised by control features of the drive means as such} - B62D 15/02: Steering position indicators {; Steering position determination; Steering aids} - B62D 6/00: Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) - B62D 5/046: {Controlling the motor} - B62D 15/0245: {Means or methods for determination of the central position of the steering system, e.g. straight ahead position} - 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 The disclosure relates to a steering control system, a steering control device, and a steering control method. According to an embodiment of the disclosure, there is provided a steering control device, comprising a receiver receiving sensing data from at least one of a rack bar position sensor or a rack force sensor, a controller generating a first control signal to move a road wheel actuator and a second control signal to move the road wheel actuator and a transmitter transmitting the first control signal and the second control signal to the road wheel actuator. ## Claims ### Claim 1 A steering control device, comprising: a receiver receiving sensing data from at least one of a rack bar position sensor or a rack force sensor; a controller generating a first control signal to move a road wheel actuator, operably coupled to road wheels to steer the road wheels, by a position value corresponding to a predetermined rotation angle, counterclockwise from a neutral position of a steering wheel feedback actuator, operably coupled to a steering wheel to provide a reaction force to the steering wheel and not mechanically coupled with the road wheel actuator, and a second control signal to move the road wheel actuator by a position value corresponding to a predetermined rotation angle, clockwise from the neutral position of the steering wheel feedback actuator, and set a mid-point of the steering wheel feedback actuator and a mid-point of the road wheel actuator based on maximum displacement position values of the road wheel actuator moved by the first control signal and the second control signal; and a transmitter transmitting the first control signal and the second control signal to the road wheel actuator, wherein the controller sets a counterclockwise full stroke value of the steering wheel feedback actuator based on a difference between the position value of the first control signal and the maximum displacement position value of the road wheel actuator moved by the first control signal, sets a clockwise full stroke value of the steering wheel feedback actuator based on a difference between the position value of the second control signal and the maximum displacement position value of the road wheel actuator moved by the second control signal, and sets a mid-value between the clockwise full stroke value and the counterclockwise full stroke value as the mid-point between the steering wheel feedback actuator and the road wheel actuator, and wherein if the difference between the maximum displacement position value of the road wheel actuator moved by the first control signal and the position value of the first control signal is a threshold or more, the controller sets the maximum displacement position value of the road wheel actuator as the counterclockwise full stroke value of the steering wheel feedback actuator. ### Claim 2 (depends on 1) The steering control device of claim 1, wherein the controller sets a value larger than a rotation angle corresponding to the counterclockwise full stroke value of the steering wheel feedback actuator as a predetermined rotation angle. ### Claim 3 (depends on 1) The steering control device of claim 1, wherein the controller counts, every predetermined cycle, when the difference between the position value of the first control signal and the maximum displacement position value of the road wheel actuator moved by the first control signal and, if the counted value is a predetermined value or more, sets the maximum displacement position value of the road wheel actuator as the counterclockwise full stroke value. ### Claim 4 (depends on 1) The steering control device of claim 1, wherein the controller sets the mid-point between the steering wheel feedback actuator and the road wheel actuator based on a rack force value detected at the maximum displacement position value of the road wheel actuator moved by the first control signal and the second control signal. ### Claim 5 (depends on 4) The steering control device of claim 4, wherein the controller sets the maximum displacement position value of the road wheel actuator as a counterclockwise full stroke value if the rack force value is increased by the first control signal and sets the maximum displacement position value of the road wheel actuator as a clockwise full stroke value if the rack force value is decreased by the second control signal to thereby set a mid-value between the clockwise full stroke value and the counterclockwise full stroke value as the mid-point between the steering wheel feedback actuator and the road wheel actuator. ### Claim 6 (depends on 5) The steering control device of claim 5, wherein the controller counts, every predetermined cycle, when the difference between the position value of the first control signal and the maximum displacement position value of the road wheel actuator moved by the first control signal is a threshold or more, and the rack force value of the road wheel actuator is a predetermined rack force value or more and, if the counted value is a predetermined value or more, sets the maximum displacement position value of the road wheel actuator as the counterclockwise full stroke value. ### Claim 7 A steering control method, comprising: transmitting, to a road wheel actuator operably coupled to road wheels to steer the road wheels, a first control signal to move by a position value corresponding to a predetermined rotation angle, counterclockwise from a neutral position of a steering wheel feedback actuator operably coupled to a steering wheel to provide a reaction force to the steering wheel and not mechanically coupled with the road wheel actuator; receiving a maximum displacement position value of the road wheel actuator moved by the first control signal; transmitting, to the road wheel actuator, a second control signal to move by a position value corresponding to the predetermined rotation angle, clockwise from the neutral position of the steering wheel feedback actuator; receiving a maximum displacement position value of the road wheel actuator moved by the second control signal; and setting a mid-point of the steering wheel feedback actuator and a mid-point of the road wheel actuator based on the maximum displacement position values of the road wheel actuator moved by the first control signal and the second control signal, wherein setting the mid-point includes setting a counterclockwise full stroke value of the steering wheel feedback actuator based on a difference between the position value of the first control signal and the maximum displacement position value of the road wheel actuator moved by the first control signal, setting a clockwise full stroke value of the steering wheel feedback actuator based on a difference between the position value of the second control signal and the maximum displacement position value of the road wheel actuator moved by the second control signal, and setting a mid-value between the clockwise full stroke value and the counterclockwise full stroke value as the mid-point between the steering wheel feedback actuator and the road wheel actuator, and wherein setting the mid-point includes, if the difference between the maximum displacement position value of the road wheel actuator moved by the first control signal and the position value of the first control signal is a threshold or more, setting the maximum displacement position value of the road wheel actuator as the counterclockwise full stroke value of the steering wheel feedback actuator. ### Claim 8 (depends on 7) The steering control method of claim 7, wherein receiving the counterclockwise maximum displacement position value includes setting a value larger than a rotation angle corresponding to the counterclockwise full stroke value of the steering wheel feedback actuator as a predetermined rotation angle. ### Claim 9 (depends on 7) The steering control method of claim 7, wherein setting the mid-point includes counting, every predetermined cycle, when the difference between the position value of the first control signal and the maximum displacement position value of the road wheel actuator moved by the first control signal and, if the counted value is a predetermined value or more, setting the maximum displacement position value of the road wheel actuator as the counterclockwise full stroke value. ### Claim 10 (depends on 7) The steering control method of claim 7, wherein setting the mid-point includes setting the mid-point between the steering wheel feedback actuator and the road wheel actuator based on a rack force value detected at the maximum displacement position value of the road wheel actuator moved by the first control signal and the second control signal. ### Claim 11 (depends on 10) The steering control method of claim 10, wherein setting the mid-point includes setting the maximum displacement position value of the road wheel actuator as a counterclockwise full stroke value if the rack force value is increased by the first control signal and setting the maximum displacement position value of the road wheel actuator as a clockwise full stroke value if the rack force value is decreased by the second control signal to thereby set a mid-value between the clockwise full stroke value and the counterclockwise full stroke value as the mid-point between the steering wheel feedback actuator and the road wheel actuator. ### Claim 12 (depends on 11) The steering control method of claim 11, wherein setting the mid-point includes counting, every predetermined cycle, when the difference between the position value of the first control signal and the maximum displacement position value of the road wheel actuator moved by the first control signal is a threshold or more, and the rack force value of the road wheel actuator is a predetermined rack force value or more and, if the counted value is a predetermined value or more, setting the maximum displacement position value of the road wheel actuator as the counterclockwise full stroke value. ### Claim 13 A steering control system, comprising: a steering wheel feedback actuator operably coupled to a steering wheel to provide a reaction force to the steering wheel; a road wheel actuator operably coupled to road wheels to steer the road wheels and not mechanically coupled with the steering wheel feedback actuator, the road wheel actuator configured to move the road wheels based on a position value corresponding to a rotation angle of the steering wheel feedback actuator; a sensor detecting a rack force and a position of a rack bar; and a steering control device setting a mid-point between the steering wheel feedback actuator and the road wheel actuator based on the position value of the road wheel actuator moved according to the rotation angle of the steering wheel feedback actuator, wherein the steering control device includes: a receiver receiving at least one sensing data of the rack force and the position of the rack bar from the sensor; a controller generating a first control signal to move a road wheel actuator by a position value corresponding to a predetermined rotation angle, counterclockwise from a neutral position of a steering wheel feedback actuator and a second control signal to move the road wheel actuator by a position value corresponding to a predetermined rotation angle, clockwise from the neutral position of the steering wheel feedback actuator, and set a mid-point of the steering wheel feedback actuator and a mid-point of the road wheel actuator based on maximum displacement position values of the road wheel actuator moved by the first control signal and the second control signal; and a transmitter transmitting the first control signal and the second control signal to the road wheel actuator, wherein the controller sets a counterclockwise full stroke value of the steering wheel feedback actuator based on a difference between the position value of the first control signal and the maximum displacement position value of the road wheel actuator moved by the first control signal, sets a clockwise full stroke value of the steering wheel feedback actuator based on a difference between the position value of the second control signal and the maximum displacement position value of the road wheel actuator moved by the second control signal, and sets a mid-value between the clockwise full stroke value and the counterclockwise full stroke value as the mid-point between the steering wheel feedback actuator and the road wheel actuator, and wherein if the difference between the maximum displacement position value of the road wheel actuator moved by the first control signal and the position value of the first control signal is a threshold or more, the controller sets the maximum displacement position value of the road wheel actuator as the counterclockwise full stroke value of the steering wheel feedback actuator.