| 摘要 |
According to an embodiment of the present invention, a method for calculating a target yaw rate of a vehicle for controlling guidance of a lane comprises: a first step of selecting a target yaw rate of a vehicle; a second step of predicting a future trajectory of a vehicle based on the target yaw rate of a vehicle and driving information of a vehicle; a third step of determining whether transverse stability of a vehicle is secured on the basis of the predicted future trajectory of a vehicle; and a fourth step of resetting a target yaw rate of a vehicle based on the determination result. Thus, a driving sense of difference can be minimized. |
