| 摘要 |
A method for compensating leaning of an in-wheel driven vehicle of the present invention includes: a step in which a control part collects an angle value of a steering wheel and a Yaw rate value for a fixed time, while the in-wheel driven vehicle runs; a step in which the control part calculates an average value of the Yaw rate value collected during the fixed time, and judges straight running of the in-wheel driven vehicle through the Yaw rate average value; a step in which the control part judges a leaning running state of the vehicle, during the straight running of the in-wheel driven vehicle; a step in which the control part calculates an average value of the steering wheel angle during a fixed time, and judges a leaning direction of the in-wheel driven vehicle by the average value of the steering wheel angle, under the leaning running of the in-wheel driven vehicle; and a step in which the control part calculates a compensation torque, and applies the calculated compensation torque, under the leaning direction judgment state of the in-wheel driven vehicle. |
