Method for detecting rack rolling and apparatus thereof
AssigneeHl Mando Corporation
InventorsHyunbi KWON, Jaehoon BAE
Life of this patent
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Abstract
A method and apparatus for detecting rack-rolling of a rack bar of a vehicle may perform operations including: determining whether an error related a rack bar connected to a steering motor occurs using at least one of a motor current of the steering motor for steering control of a vehicle or a rack force; detecting abnormal behavior of the vehicle based on a yaw rate and a lateral acceleration of the vehicle; and detecting rolling of the rack bar connected to the steering motor based on the determining of whether an error related to the rack bar occurs and the detecting of the abnormal behavior of the vehicle.
Claims23
A method comprising:
- determining whether an error related a rack bar connected to a steering motor occurs using at least one of a motor current of the steering motor for steering control of a vehicle or a rack force;
- detecting abnormal behavior of the vehicle based on a yaw rate and a lateral acceleration of the vehicle;
- and
- detecting rolling of the rack bar connected to the steering motor based on the determining of whether the error related to the rack bar occurs and the detecting of the abnormal behavior of the vehicle.
An apparatus comprising:
- memory configured to store at least one instruction;
- and
- a processor configured to execute the at least one instruction to perform operations comprising:
- determining whether an error related a rack bar connected to a steering motor occurs using at least one of a motor current of the steering motor for steering control of a vehicle or a rack force;
- detecting abnormal behavior of the vehicle based on a yaw rate and a lateral acceleration of the vehicle;
- and
- detecting rolling of the rack bar connected to the steering motor based on the determining of whether the error related to the rack bar occurs and the detecting of the abnormal behavior of the vehicle.
A steer-by-wire system, comprising:
- a ball nut rotatably coupled to a rack bar and configured to linearly move the rack bar by rotation of the ball nut;
- first and second nut pulleys provided on an outer surface of the ball nut;
- a first motor pulley of a first motor operably connected to the first nut pulley of the ball nut through a first belt;
- a second motor pulley of a second motor operably connected to the second nut pulley of the ball nut through a second belt;
- a controller configured to control the first motor and the second motor, and
- wherein the controller is configured to:
- determine whether an error related to the rack bar occurs using at least one of a motor current or a rack force of each of the first motor or the second motor,
- detect abnormal behavior of the vehicle based on a yaw rate and a lateral acceleration of the vehicle, and
- detect rolling of the rack bar based on determination of whether the error related to the rack bar occurs and detection of the abnormal behavior detection of the vehicle.
Dependencies are inferred from the claim text.