| 摘要 |
A vehicle posture controlling method is provided to prevent roll over of the vehicles effectively by considering overthrowing enable state of the vehicles and handle operation of operators at a state that overturning of automobile is enabled and controlling vehicle posture suitable for a current state of the vehicles. A vehicle posture controlling method comprises steps of: sensing a horizontal acceleration of the vehicles when vehicles are turned; estimating a roll angle and a roll-rate of the vehicles using a sensed horizontal acceleration; determines whether a state of the vehicles is rollover enable state or not using the roll angle and the presumed roll-rate; adding a braking power of outside wheel if a state of the vehicles is the rollover enable state; sensing an amount of change of the horizontal acceleration while adding the braking power to the outside wheel; sensing a steering angle, a steering direction and a steering angle speed if an amount of change of sensed horizontal acceleration is a specified level or greater; reducing a braking power of the outside wheel and increasing a braking power of the inner wheel in case that a steering wheel is drastically steered to an opposite direction of turning based on the sensed steering angle, the sensed steering direction and the sensed steering angle speed. |
