A apparatus for controlling a steer-by-wire system including: a reaction torque generator configured to generate reaction torque as a calculated value of steering reaction torque applied to a steering wheel; a driver torque estimator configured to detect a driver torque estimation value as an estimated value of driver steering torque; a speed controller configured to generate a motor torque command value of a motor-driven power steering system; a torque adjuster configured to calibrate the motor torque command value and the reaction torque based on the driver torque estimation value, and output final active return torque and final reaction torque; and a target current generator configured to generate a target current for motor control by using the final active return torque and the final reaction torque, inputted from the torque adjuster, and input the generated target current to a motor.

The disclosure relates to a method for operating a steer-by-wire steering system which includes at least one steering input element, at least one steering actuating element operatively connected to the steering input element, at least one first end stop for mechanically limiting a movement of the steering actuating element in a first direction of movement and at least one second end stop for mechanically limiting a movement of the steering actuating element in a second direction of movement, wherein a steering ratio between the steering input element and the steering actuating element is adapted such that a maximum deflection of the steering input element in a first steering direction, in which the steering actuating element reaches the first end stop, and a maximum deflection of the steering input element in a second steering direction, in which the steering actuating element reaches the second end stop, are at least substantially identical.

A terminal position learning unit includes a first storage unit configured to store a steered position positioned farthest from a neutral position of a turning mechanism within a range of a steered position detected by a position detection unit when rotational force applied to the turning mechanism is less than or equal to a first predetermined value, a second storage unit configured to store a steered position positioned farthest from the neutral position within a range of a position to which a steered position detected by the position detection unit is shifted in a direction toward the neutral position by a second predetermined value, and a third storage unit configured to store, as a terminal position stored by the terminal position learning unit, one of the steered positions stored in the first storage unit and the second storage unit positioned farther from the neutral position than the other.

A turning control device includes a terminal position learning unit configured to learn a terminal position of the turning mechanism, based on a steered position of the turning mechanism detected by a position detection unit, a command value correction unit configured to, when a steered position detected by the position detecting unit is in a vicinity of a learned terminal position, correct a current command value for an actuator providing a turning mechanism with steering assist force, and a correction amount limiting unit configured to limit a correction amount of the current command value by the command value correction unit, based on a comparison result between the learned terminal position and a predetermined position and a comparison result between stroke length of the turning mechanism calculated from the learned terminal positions and a predetermined length.

The present embodiments relates to a steering control device and method of a vehicle and may provide a steering control device and method for a vehicle, which may secure stably steered driving by controlling the output of the steering motor by changing the average steering ratio when the driver causes urgent steering in a failure situation and adjusting the rack stroke and rack speed.

A control device includes a reaction force controller to generate an input torque input to a control target and control a reaction force transmitted to a steering person and an assist controller to generate a correction torque to correct the input torque based on an output of the control target and a nominal model. The assist controller includes a high-pass filter with a first cutoff frequency, a low-pass filter with a second cutoff frequency higher than the first cutoff frequency, and a disturbance compensation value calculator. When a transfer function of the low-pass filter is Q(s) and a transfer function of the high-pass filter is HPF(s), a transfer function of a control target is constrained by a transfer function of the nominal model in a frequency band in which a gain in a gain characteristic of Q(s).Math.HPF(s) is 1.

A steering control device includes a control circuit and a drive circuit. The control circuit is configured to perform a current feedback computation by which the actual current value of electric current to be supplied to a motor follows a current command value. The control circuit is configured to execute an end-abutting relaxation control to correct the current command value such that decrease in an end interval angle is restricted, when the end interval angle is equal to or smaller than a predetermined angle, the end interval angle indicating the distance of the absolute steer angle from the end position correspondence angle. The control circuit is configured to adjust a control gain to be used in the current feedback computation, such that the control gain increases, when overshoot of the actual current value occurs during the execution of the end-abutting relaxation control.

A steering control device includes: an absolute steering angle detecting unit configured to detect an absolute steering angle; and a current command value calculating unit configured to calculate a current command value corresponding to a target value of the motor torque output from the motor. The current command value calculating unit is configured to perform partial release control for decreasing a correction value of the current command value due to execution of the end contact relaxation control when a vehicle is tried to be turned at the time of execution of the end contact relaxation control. The current command value calculating unit is configured to stop the partial release control when the current command value which is calculated at the time of execution of the partial release control is a value which is not affected by decreasing the correction value based on execution of the partial release control.

A steering control device includes an electronic control unit. The electronic control unit detects an absolute steering angle. The electronic control unit controls driving of a motor. The electronic control unit determines whether movement of a turning shaft to one of right and left sides has been limited by an end contact or execution of end contact relaxation control. The electronic control unit acquires a plurality of limit position determination angles corresponding to the absolute steering angle. The electronic control unit permits update of an end-position-corresponding angle. The electronic control unit updates the end-position-corresponding angle stored in the electronic control unit.

A vehicle driver warning device includes: a steering angle sensor (SAS) producing steering signals representative of a real time angle of rotation of a steering column (RTARSC), a control unit receiving said signals and generating a timer activation signal (TAS) when an absolute value of the RTARSC is equal to a maximum value and a timer deactivation signal (TDS) when the absolute value is less than the maximum value after being equal to the maximum value, a timer receiving the TAS and starting a preset period of time countdown and interrupting said countdown if the TDS is received before the countdown ends, an alarm module generating an alarm perceptible to the driver upon receiving an alarm activation signal (AAS), wherein the control unit generates and communicates the AAS to the alarm module at the end of the preset period of time if the countdown has not been interrupted.