METHOD FOR DETERMINING CONTROLLED VARIABLE OF COORDINATE CONTROL AT DISSYMMETRY ROAD SURFACE USING DECELERATION OF VEHICLE

摘要

PURPOSE: A method for determining controlled variable of coordinate control at dissymmetry road surface using deceleration of vehicle is provided to constantly maintain a vehicle's straight movement without the steering by a driver. CONSTITUTION: A method for determining controlled variable of coordinate control at dissymmetry road surface using deceleration of vehicle comprises the following steps of: differentiating a reference velocity(Vref) calculated by an electric control brake to calculate a vehicle's reduction gear ratio(S1); multiplying the vehicle's reduction gear ratio by PID gain to calculate the override angle of an active front wheel steering system(S2); determining the control direction of the vehicle(S3); multiplying the calculated override angle of an active front wheel steering system by the calculated control direction of the vehicle in order to produce the steering angle control input(S4); determining whether or not a driver has an intention of steering when braking at dissymmetry road surface(S5); applying different steering angle control input threshold level according to the intention of the driver(S6); comparing the steering angle control input with steering angle control input threshold(S7); outputting the steering angle control input as a controlled value when the steering angle control input is less than the steering angle control input threshold(S8); and outputting the steering angle control input threshold as the controlled value when the steering angle control input is more than the steering angle control input threshold(S9).