The present invention relates to a technique for securing robustness in controlling the position of a vehicle against a leaning phenomenon caused by a sudden change in a speed of the vehicle. The present invention includes: determining whether a sudden change in a speed of a vehicle occurs in a straight direction, based on a state of a steering wheel and an opening state of a pedal causing a change of the vehicle; determining whether the vehicle is leaning based on a change state of a yaw rate when the sudden change in the speed of the vehicle occurs in a straight direction; and providing compensation torque in a direction of restoring the leaning of the vehicle by driving a steering motor, when it is determined that the vehicle is leaning.

    본 발명은 차량의 급격한 차속 변화에 따른 쏠림현상에 대해 차량 자세 제어에 대한 강건성을 확보하는 기술에 관한 것으로, 본 발명은 스티어링휠의 조향상태와 차속의 변화를 일으키는 페달의 개도상태를 기반으로, 직진 방향으로 급격한 차속 변화가 일어나는지 판단하고; 직진 방향으로 급격한 차속 변화가 일어날 때에 요레이트의 변화상태를 기반으로 차량의 쏠림 여부를 판단하며; 차량의 쏠림을 판단한 경우, 조향모터를 구동하여 차량의 쏠림을 복원하는 방향으로 보상토크를 제공하는 차량용 자세 제어방법이 소개된다.


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    Title :

    METHOD FOR CONTROLLING POSITION OF VEHICLE


    Additional title:

    차량용 자세 제어방법


    Contributors:
    LEE KYUNG BOK (author) / KO SUK JIN (author) / KWON O SUNG (author) / KIM NAM YOUNG (author)

    Publication date :

    2018-01-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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