Steering assist device and method, and steering system

Patent metadata

Field	Value
Publication number	US-12024239-B2
Application number	US-202117795534-A
Country	US
Kind code	B2
Filing date	Feb 4, 2021
Priority date	Feb 11, 2020
Publication date	Jul 2, 2024
Grant date	Jul 2, 2024

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.

First claim

The invention claimed is:

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.

2. 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.

3. 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.

4. 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.

5. 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.

6. 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.

7. 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.

8. 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.

9. 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.

10. 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.

Assignees

• Hl Mando Corp

Inventors

• Kim Dae Sung
• Lee Sung Hoon
• Jeong Seong Gwon
• Lee Jung Ae

Classifications

• B62D5/30

  Safety devices, e.g. alternate emergency power supply or transmission means to ensure steering upon failure of the primary steering means · CPC title

• B62D5/32

  for telemotor systems · CPC title

• H04L12/40013

  Details regarding a bus controller · CPC title

• B62D5/04

  electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear · CPC title

• H04L12/40084

  Bus arbitration · CPC title