| 摘要 |
The present invention provides a control apparatus for a vehicle and a control method thereof. According to an embodiment of the present invention, the control apparatus for a vehicle comprises: a detection part; a determination part; an estimation part; and a control part. The detection part detects current self-aligning torque output from a steering system depending on a steering input by a driver and current lateral acceleration. The determination part determines whether the detected current self-aligning torque is saturated or the detected current lateral acceleration is saturated. The estimation part estimates a first road surface friction coefficient according to a current road surface by using current electric power steering (EPS) torque output from the steering system when the current self-aligning torque is saturated and estimates a second road surface friction coefficient according to the current road surface by using the current lateral acceleration when the current lateral acceleration is saturated. The control part selectively transfers a driving command to an electronic stability control (ESC) apparatus to provide the estimated first road surface friction coefficient before entry to a first control entry section of the ESC and provide the estimated second road surface coefficient to a section other than the first control entry section of the ESC. |
