| 摘要 |
PURPOSE: A vehicle-pull controlling method is provided to judge the slip by using a measured value by a sensor and to compensate a pulling value by using a torque vectoring system. CONSTITUTION: A vehicle-pull controlling method comprises: a step of sensing a vehicle velocity, steering angle, yaw rate, and steering torque; a step of deciding pulling by the sensed vehicle velocity, steering angle, yaw rate and steering torque; a step of calculating a torque vectoring duty according to the size of the steering angle and the yaw rate; and a step of controlling a torque vectoring system according to the calculated torque vectoring duty. [Reference numerals] (AA) Steering angle; (BB,DD,FF) No control; (CC) Yaw rate, vehicle velocity; (EE) Steering torque; (GG) Left side inclination; (HH) Right side inclination; (S10) -10 deg < steering angle < +10 deg; (S20) -Th < yaw rate < +Th; (S30) Steering angle, yaw rate sign = steering torque sign; (S40) Inclination decision in a straight driving situation; (S50) Torque vectoring duty map, -input: steering angle, yaw rate, - output: torque vectoring duty; (S60) Driving LH torque vectoring; (S70) Driving RH torque vectoring
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