Apparatus and method for controlling steering of vehicle
AssigneeHyundai Mobis Co., Ltd.
InventorZachary Sabato
Life of this patent
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Abstract
An apparatus for controlling a steering of a vehicle according to an aspect of the present invention, the apparatus including: a sensor system configured to detect a traveling state of the vehicle; a memory configured to store specification information of the vehicle; and a processor configured to control a turning of the vehicle by calculating a target steering angle corresponding to a target yaw parameter required when the vehicle is turning, wherein the processor is configured to: calculate vertical forces acting on wheels of the vehicle when the vehicle is turning, based on the traveling state and specification information of the vehicle; and calculate a final target steering angle based on the calculated vertical forces to ensure that the target yaw parameter is secured.
Claims5
An apparatus for controlling a steering of a vehicle comprising:
- a sensor system configured to detect a traveling state of the vehicle;
- a memory configured to store specification information of the vehicle;
- and
- a processor configured to calculate vertical forces acting on a left wheel and a right wheel of the vehicle when the vehicle is turning, based on the traveling state and specification information of the vehicle, the vertical forces including a first vertical force acting on the left wheel and a second vertical force acting on the right wheel;
- calculate final target steering angles based on the calculated vertical forces to achieve a target yaw parameter of the vehicle required when the vehicle is turning;
- and
- control steering of the left wheel and the right wheel based on the final target steering angles,
- wherein the processor calculates the final target steering angles by calculating a control effectiveness matrix indicating an influence of the first vertical force and the second vertical force at the left wheel and the right wheel on achieving the target yaw parameter and by selecting the final target steering angles as values that minimize a loss function incorporating the target yaw parameter, the control effectiveness matrix, and a penalty matrix indicating a degree of defect in response to operation of a first actuator and a second actuator, wherein the control effectiveness matrix is calculated as a [1×2] matrix based on dynamics of the vehicle including at least a traveling speed of the vehicle, and includes control effectiveness values for the left wheel and the right wheel, respectively, each control effectiveness value corresponding to a yaw moment generated according to a lateral force with respect to a steering angle at zero steering angle.
A method of controlling a steering of a vehicle, comprising:
- calculating, by a processor, vertical forces acting on a left wheel and a right wheel of the vehicle in a turning of the vehicle based on a traveling state and specification information of the vehicle, the vertical forces including a first vertical force acting on the left wheel and a second vertical force acting on the right wheel;
- calculating, by the processor, final target steering angles based on the calculated vertical forces to achieve a target yaw parameter of the vehicle required in the turning of the vehicle when the vehicle is turning;
- and
- controlling steering of the left wheel and the right wheel based on the final target steering angles, wherein the calculating the final target steering angles includes:
- calculating a control effectiveness matrix indicating an influence of the first vertical force and the second vertical force at the left wheel and the right wheel on achieving the target yaw parameter and by selecting the final target steering angles as values that minimize a loss function incorporating the target yaw parameter, the control effectiveness matrix, and a penalty matrix indicating a degree of defect in response to operation of a first actuator and a second actuator, wherein the control effectiveness matrix is calculated as a [1×2] matrix based on dynamics of the vehicle including at least a traveling speed of the vehicle, and includes control effectiveness values for the left wheel and the right wheel, respectively, each control effectiveness value corresponding to a yaw moment generated according to a lateral force with respect to a steering angle at zero steering angle.
Dependencies are inferred from the claim text.