# US 2023/0057078 A1 · Steering assist device and method, and steering system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2023/0057078 A1 - Document ID: US20230057078A1 - Status: Published application - Kind: A1 - Application number: 17/795,534 - Filed: 2021-02-04 - Published: 2023-02-23 - Earliest claimed: 2020-02-11 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: Dae Sung KIM; Sung Hoon LEE; Seong Gwon JEONG; Jung Ae LEE - Web page: https://patentgrep.com/patent/US20230057078A1 ## CPC - B62D 5/003: {Backup systems, e.g. for manual steering (B62D5/30 takes precedence)} - B62D 5/046: {Controlling the motor} - B62D 5/0481: {monitoring the steering system, e.g. failures} - B62D 5/0484: {for reaction to failures, e.g. limp home} - B62D 5/22: for rack-and-pinion type - B62D 5/30: Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - H04L 12/40013: {Details regarding a bus controller} - H04L 12/40084: {Bus arbitration} - B62D 5/04: electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear - B62D 5/32: for telemotor systems - 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) - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) ## Abstract The present embodiments relate to a steering assist device and method, and a steering system. The steering assist device comprises: first and second input-side steering control modules for controlling an input-side steering motor so that an input-side instrument connected to a steering wheel is assisted; and first and second output-side steering control modules for controlling an output-side steering motor so that an output-side instrument mechanically separated from the input-side instrument and connected to a wheel is assisted, wherein the first and second input-side steering control modules and the first and second output-side steering control modules arbitrate a role assignment and can control a corresponding steering motor from among the input-side steering motor and the output-side steering motor according to the role assignment arbitration result. ## Claims ### Claim 1 A steering assist device, comprising: first and second input-side steering control modules controlling an input-side steering motor to allow an input-side mechanism connected with a steering wheel to be assisted; and first and second output-side steering control modules controlling an output-side steering motor to allow an output-side mechanism mechanically separated from the input-side mechanism and connected with a wheel to be assisted, wherein the first and second input-side steering control modules and the first and second output-side steering control modules arbitrate role assignment and control a corresponding steering motor of the input-side steering motor and the output-side steering motor according to a result of arbitrating the role assignment. ### Claim 2 (depends on 1) The steering assist device of claim 1, wherein the first and second input-side steering control modules arbitrate input-side role assignment, if the input-side role assignment succeeds, control the input-side steering motor according to a result of input-side role assignment arbitration and, if the input-side role assignment fails, control the input-side steering motor according to the result of input-side role assignment arbitration through the first and second output-side steering control modules. ### Claim 3 (depends on 2) The steering assist device of claim 2, wherein the first and second output-side steering control modules arbitrate output-side role assignment, if the output-side role assignment succeeds, control the output-side steering motor according to a result of output-side role assignment arbitration and, if the output-side role assignment fails, control the output-side steering motor according to the result of output-side role assignment arbitration through the first and second input-side steering control modules. ### Claim 4 (depends on 1) The steering assist device of claim 1, further comprising: a first internal communication channel connecting the first input-side steering control module and the second input-side steering control module; a second internal communication channel connecting the first output-side steering control module and the second output-side steering control module; a first external communication channel connecting the first input-side steering control module and the first output-side steering control module and connected with a vehicle; and a second external communication channel connecting the second input-side steering control module and the second output-side steering control module and connected with the vehicle. ### Claim 5 (depends on 4) The steering assist device of claim 4, wherein the first and second input-side steering control modules monitor their mutual states through the first internal communication channel to arbitrate the input-side role assignment, if the input-side role assignment succeeds, control the input-side steering motor according to a result of input-side role assignment arbitration and, if the input-side role assignment fails, control the input-side steering motor according to the result of input-side role assignment arbitration by the first and second output-side steering control modules, received through the first and second external communication channels. ### Claim 6 (depends on 5) The steering assist device of claim 5, wherein the first and second input-side steering control modules, if the first internal communication channel is in a normal state so that their mutual states are identified, and the identified mutual states are in a normal state, determine that one is an input-side primary steering control module and the other is an input-side redundant steering control module and control the input-side steering motor, and if the first internal communication channel is in an abnormal state so that their mutual states are not identified, but each state is in a normal state, determine that one is the input-side primary steering control module and the other is the input-side redundant steering control module according to the result of input-side role assignment arbitration by the first and second output-side steering control modules, received through the first and second external communication channels and control the input-side steering motor. ### Claim 7 (depends on 4) The steering assist device of claim 4, wherein the first and second output-side steering control modules monitor their mutual states through the second internal communication channel to arbitrate the output-side role assignment, if the output-side role assignment succeeds, control the output-side steering motor according to a result of output-side role assignment arbitration and, if the output-side role assignment fails, control the output-side steering motor according to the result of output-side role assignment arbitration by the first and second input-side steering control modules, received through the first and second external communication channels. ### Claim 8 (depends on 7) The steering assist device of claim 7, wherein the first and second output-side steering control modules, if the second internal communication channel is in a normal state so that their mutual states are identified, and the identified mutual states are in a normal state, determine that one is an output-side primary steering control module and the other is an output-side redundant steering control module and control the output-side steering motor, and if the second internal communication channel is in an abnormal state so that their mutual states are not identified, but each state is in a normal state, determine that one is the output-side primary steering control module and the other is the output-side redundant steering control module according to the result of output-side role assignment arbitration by the first and second input-side steering control modules, received through the first and second external communication channels and control the output-side steering motor. ### Claim 9 (depends on 1) The steering assist device of claim 1, further comprising: an input-side steering motor including a single winding-type input-side steering motor or a dual-winding-type input-side steering motor; and an output-side steering motor including a single winding-type output-side steering motor or a dual-winding-type output-side steering motor. ### Claim 10 (depends on 9) The steering assist device of claim 9, wherein if the input-side steering motor includes the single winding-type input-side steering motor, and the output-side steering motor includes the single winding-type output-side steering motor, the first and second input-side steering control modules arbitrate input-side role assignment and determine that one is an input-side primary steering control module and the other is an input-side redundant steering control module according to a result of input-side role assignment arbitration, wherein the input-side primary steering control module controls the single winding-type input-side steering motor and, if the input-side primary steering control module switches to an abnormal state, the input-side redundant steering control module controls the single winding-type input-side steering motor instead of the input-side primary steering control module, and the first and second output-side steering control modules arbitrate output-side role assignment and determine that one is an output-side primary steering control module and the other is an output-side redundant steering control module according to a result of output-side role assignment arbitration, wherein the output-side primary steering control module controls the single winding-type output-side steering motor and, if the output-side primary steering control module switches to an abnormal state, the output-side redundant steering control module controls the single winding-type output-side steering motor instead of the output-side primary steering control module. ### Claim 11 (depends on 9) The steering assist device of claim 9, wherein if the input-side steering motor includes the single winding-type input-side steering motor, and the output-side steering motor includes the dual winding-type output-side steering motor, the first and second input-side steering control modules arbitrate input-side role assignment and determine that one is an input-side primary steering control module and the other is an input-side redundant steering control module according to a result of input-side role assignment arbitration, wherein the input-side primary steering control module controls the single winding-type input-side steering motor and, if the input-side primary steering control module switches to an abnormal state, the input-side redundant steering control module controls the single winding-type input-side steering motor instead of the input-side primary steering control module, and the first and second output-side steering control modules arbitrate output-side role assignment and determine that one is an output-side primary steering control module and the other is an output-side redundant steering control module according to a result of output-side role assignment arbitration, wherein the output-side primary steering control module and the output-side redundant steering control module control the dual winding-type output-side steering motor and, if the output-side primary steering control module switches to an abnormal state, the output-side redundant steering control module controls the dual winding-type output-side steering motor. ### Claim 12 (depends on 9) The steering assist device of claim 9, wherein if the input-side steering motor includes the dual winding-type input-side steering motor, and the output-side steering motor includes the single winding-type output-side steering motor, the first and second input-side steering control modules arbitrate input-side role assignment and determine that one is an input-side primary steering control module and the other is an input-side redundant steering control module according to a result of input-side role assignment arbitration, wherein the input-side primary steering control module and the input-side redundant steering control module control the dual winding-type input-side steering motor and, if the input-side primary steering control module switches to an abnormal state, the input-side redundant steering control module controls the dual winding-type input-side steering motor, and the first and second output-side steering control modules arbitrate output-side role assignment and determine that one is an output-side primary steering control module and the other is an output-side redundant steering control module according to a result of output-side role assignment arbitration, wherein the output-side primary steering control module controls the single winding-type output-side steering motor and, if the output-side primary steering control module switches to an abnormal state, the output-side redundant steering control module controls the single winding-type output-side steering motor instead of the output-side primary steering control module. ### Claim 13 (depends on 9) The steering assist device of claim 9, wherein if the input-side steering motor includes the dual winding-type input-side steering motor, and the output-side steering motor includes the dual winding-type output-side steering motor, the first and second input-side steering control modules arbitrate input-side role assignment and determine that one is an input-side primary steering control module and the other is an input-side redundant steering control module according to a result of input-side role assignment arbitration, wherein the input-side primary steering control module and the input-side redundant steering control module control the dual winding-type input-side steering motor and, if the input-side primary steering control module switches to an abnormal state, the input-side redundant steering control module controls the dual winding-type input-side steering motor, and the first and second output-side steering control modules arbitrate output-side role assignment and determine that one is an output-side primary steering control module and the other is an output-side redundant steering control module according to a result of output-side role assignment arbitration, wherein the output-side primary steering control module and the output-side redundant steering control module control the dual winding-type output-side steering motor and, if the output-side primary steering control module switches to an abnormal state, the output-side redundant steering control module controls the dual winding-type output-side steering motor. ### Claim 14 A steering assist method for assisting an input-side mechanism connected with a steering wheel and an output-side mechanism connected with a wheel, through first and second input-side steering control modules controlling an input-side steering motor connected with the input-side mechanism and first and second output-side steering control modules controlling an output-side steering motor connected with the output-side mechanism, the steering assist method comprising: arbitrating role assignment through the first and second input-side steering control modules and the first and second output-side steering control modules; and controlling a corresponding steering motor of the input-side steering motor and the output-side steering motor according to a result of role assignment arbitration through the first and second input-side steering control modules and the first and second output-side steering control modules. ### Claim 15 A steering system, comprising: a steering device including an input-side mechanism connected with a steering wheel and an output-side mechanism mechanically separated from the input-side mechanism and connected with a wheel; and a steering assist device including first and second input-side steering control modules controlling an input-side steering motor to allow the input-side mechanism to be assisted; and first and second output-side steering control modules controlling an output-side steering motor to allow the output-side mechanism to be assisted, wherein the first and second input-side steering control modules and the first and second output-side steering control modules arbitrate role assignment and control a corresponding steering motor of the input-side steering motor and the output-side steering motor according to a result of arbitrating the role assignment.