Provided are a steering control method and a steering control apparatus. According to the present embodiments, Shimmy is compensated using a lag force signal from the road wheel actuator side rather than a torque signal from the steering feedback actuator side. Therefore, only a Shimmy component can be removed without affecting other steering feel. Additionally, the Shimmy can be compensated even if a torque sensor fails. The steering control method of the present invention comprises: a Shimmy component logic operating step; a Shimmy compensation lag force generating step; and a reaction force torque signal outputting step.
본 실시예들은 스티어링 피드백 액추에이터 측의 토크 신호가 아닌 로드 휠 액추에이터 측의 랙포스 신호를 사용하여 쉬미를 보상함으로써, 다른 조향감에는 영향을 주지 않고 쉬미 성분만을 제거할 수 있고, 토크 센서가 고장난 경우에도 쉬미를 보상할 수 있는 조향 제어 방법 및 조향 제어 장치를 제공할 수 있다.
STEERING CONTROLLING METHOD AND STEERING CONTROLLING APPARATUS
조향 제어 방법 및 조향 제어 장치
2023-10-05
Patent
Electronic Resource
Korean
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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