| 摘要 |
An MDPS controlling method for a road surface with spilt frictional coefficients is provided to increase vehicle braking force by ESC(Electronic Stability Control) for reducing a braking distance and reduce a vehicle rotation moment by MDPS(Motor Driven Power Steering) for securing straight movement stability. An MDPS controlling method for a road surface with spilt frictional coefficients includes the steps of determining whether a vehicle yaw rate or a yaw angle exceeds a predetermined value(S10), determining whether a steering wheel steering angular velocity is lower than a value controllable a rotation moment and whether a yaw rate generate by motor driving exceeds a value controllable a rotation moment(S20) if yes, increasing driving force applied to the motor by a predetermined degree(S30) if yes, determining whether the steering wheel steering angular velocity exceeds a value difficult for vehicle control(S40) if no in the second step, and decreasing the driving force applied to the motor by a predetermined degree(S50) if yes in the fourth step.
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