VEHICLE STEERING APPARATUS AND METHOD FOR LANE KEEPING

摘要

The present invention relates to an apparatus and a method for controlling vehicle steering for lane-keeping to elaborately support lane-keeping of a vehicle without emotional heterogeneity for a user. The apparatus for controlling vehicle steering for lane-keeping according to the present invention comprises: a steering angle calculation unit which calculates a target steering angle on the basis of a previously calculated target yaw rate and a measured yaw rate of a vehicle; a steering torque calculation unit which calculates a target steering angle speed error on the basis of the calculated target steering angle and the measured steering angle of the vehicle, and calculates a target steering torque on the basis of the calculated target steering angle speed error; and a steering control unit which controls the steering of the vehicle in accordance with the target steering torque calculated by the steering torque calculation unit.