US 12,116,000 B2
Apparatus and method for controlling motor driven power steering system of vehicle
Tae Hong Kim, Yongin-si (KR)
Assigned to HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed by HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed on Jul. 7, 2022, as Appl. No. 17/811,159.
Claims priority of application No. 10-2021-0140913 (KR), filed on Oct. 21, 2021.
Prior Publication US 2023/0126269 A1, Apr. 27, 2023
Int. Cl. B60W 50/00 (2006.01); B60W 60/00 (2020.01); B62D 15/02 (2006.01)
CPC B60W 50/0098 (2013.01) [B60W 60/0015 (2020.02); B60W 60/005 (2020.02); B62D 15/021 (2013.01); B62D 15/025 (2013.01); B60W 2050/0056 (2013.01); B60W 2510/202 (2013.01); B60W 2520/10 (2013.01); B60W 2540/18 (2013.01); B60W 2710/202 (2013.01)] 12 Claims
OG exemplary drawing
 
7. A method for controlling a Motor Driven Power Steering (MDPS) system, comprising:
determining, by an MDPS logic unit, a first command current based on column torque and vehicle speed, which are detected by a column torque sensor and a vehicle speed sensor, respectively;
determining, by a steering angle position control unit, a second command current for driving an MDPS motor in an autonomous driving mode based on a command steering angle input from an autonomous driving system and a current steering angle input from a steering angle sensor, and driving the MDPS motor;
determining, by a driver steering intervention determination unit, whether a driver has intervened in steering by monitoring the column torque of the column torque sensor in the autonomous driving mode; and
deciding, by an output control unit, a final command current by applying a weight decided by the driver steering intervention determination unit to the first and second command currents when the driver's steering intervention occurs in the autonomous driving mode of the vehicle;
wherein determining whether the driver has intervened in steering, comprises:
performing, by a filter unit, noise filtering on the column torque detected by the column torque sensor through a Band Stop Filter (BSF);
adjusting, by a steering intervention determination unit, a holding period reference value that is a driver steering intervention determination reference time, according to the magnitude of the column torque filtered by the filter unit, and determining that the driver has intervened in steering when a state in which a magnitude of the filtered column torque is greater than or equal to a preset reference value is maintained for the adjusted holding period reference value; and
acquiring, by a weight calculation unit, a blending period corresponding to the column torque when the holding period of the filtered column torque reaches the holding period reference value as the weight.