| 摘要 |
PURPOSE: A method for controlling the traveling safety of a vehicle is provided to exactly estimate the yaw speed of the vehicle that a driver desires, to control brake power and the driving force of an engine to make the motion of the vehicle follow up the trace of the vehicle according to the yaw speed. CONSTITUTION: A method for controlling the traveling safety of a vehicle is composed of steps of estimating the desired yaw speed of the vehicle by using the steering wheel angle and reference speed of the vehicle in turning(S100); deciding the condition of a road surface by comparing the estimated lateral acceleration of the vehicle with the actual lateral acceleration measured from a lateral acceleration sensor by using the estimated yaw rate and reference speed(S200); deciding reference yaw rate which a driver desires according to the state of the decided road surface(S300); deciding whether plow or spin-out by comparing the decided reference yaw rate with an actual yaw rate measured from a yaw rate sensor(S400); and controlling the brake power and driving force of the vehicle to a decided result and accordingly securing the favorable safety of the vehicle(S500).
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