| 摘要 |
A steering angle controlling method using compensation moment in an ESP(Electronic Stability Program) system is provided to let a driver control the steering angle of wheels by computing compensation moment by an AFS(Active Front Steering System). A steering angle controlling method using compensation moment in an ESP system comprises the steps of: calculating and setting yaw rate that is a stability criterion indicating the trace of a vehicle by using steering angle and vehicle velocity(S200); calculating lateral acceleration of a vehicle body from a friction coefficient of road and vehicle velocity and a maximum value of yaw rate by the relation of lateral acceleration and vehicle velocity, and then limiting yaw rate below a maximum value(S210); judging the stability of the vehicle by a yaw rate error indicating difference between measured yaw rate and the set yaw rate(S220); calculating compensation moment in each region by integrating the degree and inclination of yaw rate and the yaw rate error(S230); compensating and setting the override control degree according to the set yaw rate by using the calculated compensation moment(S260); and computing a maximum value of override steering angle according to the steering angle of a driver and then, controlling the set override steering angle below a maximum value(S270).
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