| 摘要 |
A yaw rate control method for an ESP(Electronic Stability Program) system of a vehicle is provided to secure stability of the vehicle by stably limiting the yaw rate of the vehicle by controlling vehicle wheels through the momentum of the vehicle and road state and to judge the state of the vehicle exactly by using information about the slip angle of the vehicle on the low-friction road. A yaw rate control method for an ESP system of a vehicle comprises the steps of: measuring the real momentum of the vehicle by reading measurement values from plural sensors detecting motion information of the vehicle(S100,S110); setting a stable reference value that a driver wants, from steering angle and vehicle speed measured from the sensors of the vehicle(S120); comparing the measured momentum of the vehicle and the set stable reference value and judging road conditions according to the degree of measured lateral acceleration if the momentum of the vehicle is over the stable reference value(S130,S140); and deciding the yaw rate limit timing and limit degree according to the judged road condition(S150).
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