| 摘要 |
PURPOSE: A steering compensation control method according to the center of the gravity of a vehicle is provided to prevent a steering-pull from becoming large by applying auxiliary power to a direction opposite to a direction where a steering device is pulled, thereby promoting safe driving and improving the straight-driving stability of a vehicle. CONSTITUTION: A steering compensation control method according to the center of the gravity of a vehicle is as follows. A control unit compares a column torque value and a steering torque value measured by a column torque sensor and a steering torque sensor with preset values, thereby determining a steering direction of the vehicle. When the steering direction of the vehicle is determined, a direction where the center of the gravity of the vehicle is pulled is determined by comparing a steering angle measured by a steering angle sensor of an electronic steering device with a preset steering angle. When the direction where the center of the gravity of the vehicle is pulled is determined, a pull-compensation is performed. [Reference numerals] (AA) Start; (BB,FF,HH,JJ,LL) No; (CC,GG,II,KK,MM) Yes; (DD) Right side; (EE) Left side; (NN) End; (S110)¦Column torque¦< Threshold torque ?; (S120) Steering direction?; (S121) Steering angle > Threshold angle ?; (S122) Bias compensation mode entry assisting power = -aX + b; (S123) Steering angle <= Threshold angle ?; (S124) Steering angle < -Threshold angle ?; (S125) Bias compensation mode entry assisting power = aX + b; (S126) Steering angle >= -Threshold angle ?; (S130) Release a bias compensation mode
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