| 摘要 |
PURPOSE: A method of compensating the vehicle speed, using a yaw rate sensor is provided to compensate the vehicle speed according to the turning degree of a vehicle to exactly reflecting the speed of the vehicle, in controlling turning. CONSTITUTION: A method of compensating the vehicle speed, using a yaw rate sensor includes steps of estimating the reference vehicle speed on the basis of the wheel speed detected from each wheel speed sensor(S220); calculating a compensating coefficient of the reference vehicle speed, using the turning degree of a vehicle detected from the yaw rate sensor(S230,S240); and compensating the estimated reference vehicle speed, using the calculated compensating coefficient(S250). The braking ability and stability of the vehicle are improved by compensating the speed of the vehicle through reflection of the turning degree of the vehicle.
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