| 摘要 |
PURPOSE: A cornering decision equipment of vehicle and a method thereof are provided to secure fail safe measures in the failure by determining cornering of vehicle in case of yaw rate sensor which is one among ESC configuration sensor broke down. CONSTITUTION: A cornering decision method of vehicle comprises a first step of calculating four yaw estimated value using sensing value detected from 4 sensors; a second step of comparing yaw rate threshold value with each estimated value in order; a third step of detecting each estimated value as a right turn determination factor or a left turn determination factor; a fourth step of increasing right turn determination counter with one when each four estimated value is all right turn determination factor, and left turn determination counter with one when each four estimated value is all left turn determination factor; and a fifth step of determining to turn right when right turn determination counter is large than the set right turn determination threshold value, and turn left when left turn determination counter is large than the set left turn determination threshold value. A third step increases right turn recognition factor with one when yaw rate threshold is less than each estimated value and increases left turn recognition factor with one when yaw rate threshold is greater than each estimated value. A fourth step increases right turn determination counter with one when all four estimated value are over than threshold and increases left turn determination counter with one when all four estimated value are less than threshold. A cornering decision method of vehicle also comprises a step initializing right turn recognition factor and left turn recognition factor to 0 when right turn determination counter is unable to exceed right turn recognition threshold and left turn determination counter is unable to exceed left turn recognition threshold. [Reference numerals] (101) Sensor unit; (102) Yaw rate estimated value calculating unit; (103) Left/right turning recognition factor calculating unit; (104) Left/right turning recognizing unit
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