Apparatus and method for controlling steering of vehicle

1 . An apparatus for controlling a steering of a vehicle comprising:

a sensor system configured to detect a traveling state of the vehicle;

a memory configured to store specification information of the vehicle; and

a processor configured to calculate vertical forces acting on a left wheel and a right wheel of the vehicle when the vehicle is turning, based on the traveling state and specification information of the vehicle, the vertical forces including a first vertical force acting on the left wheel and a second vertical force acting on the right wheel;

calculate final target steering angles based on the calculated vertical forces to achieve a target yaw parameter of the vehicle required when the vehicle is turning; and

control steering of the left wheel and the right wheel based on the final target steering angles,

wherein the processor calculates the final target steering angles by calculating a control effectiveness matrix indicating an influence of the first vertical force and the second vertical force at the left wheel and the right wheel on achieving the target yaw parameter and by selecting the final target steering angles as values that minimize a loss function incorporating the target yaw parameter, the control effectiveness matrix, and a penalty matrix indicating a degree of defect in response to operation of a first actuator and a second actuator, wherein the control effectiveness matrix is calculated as a [1×2] matrix based on dynamics of the vehicle including at least a traveling speed of the vehicle, and includes control effectiveness values for the left wheel and the right wheel, respectively, each control effectiveness value corresponding to a yaw moment generated according to a lateral force with respect to a steering angle at zero steering angle.

2 . The apparatus of claim 1 ,

wherein the processor calculates of the first vertical force and the second vertical force in consideration of a vertical force transfer of the left wheel and the right wheel when the vehicle is turning.

3 . The apparatus of claim 2 , wherein the processor calculates a roll moment of the vehicle based on the traveling state and specification information of the vehicle, calculates the vertical force transfer of the left wheel and the right wheel based on the calculated roll moment, and calculates of the first vertical force and the second vertical force based on the calculated vertical force transfer.

4 . The apparatus of claim 1 , wherein the left wheel and the right wheel are driven by the first actuator and the second actuator, respectively.

5 . A method of controlling a steering of a vehicle, comprising:

calculating, by a processor, vertical forces acting on a left wheel and a right wheel of the vehicle in a turning of the vehicle based on a traveling state and specification information of the vehicle, the vertical forces including a first vertical force acting on the left wheel and a second vertical force acting on the right wheel;

calculating, by the processor, final target steering angles based on the calculated vertical forces to achieve a target yaw parameter of the vehicle required in the turning of the vehicle when the vehicle is turning; and

controlling steering of the left wheel and the right wheel based on the final target steering angles, wherein the calculating the final target steering angles includes: calculating a control effectiveness matrix indicating an influence of the first vertical force and the second vertical force at the left wheel and the right wheel on achieving the target yaw parameter and by selecting the final target steering angles as values that minimize a loss function incorporating the target yaw parameter, the control effectiveness matrix, and a penalty matrix indicating a degree of defect in response to operation of a first actuator and a second actuator, wherein the control effectiveness matrix is calculated as a [1×2] matrix based on dynamics of the vehicle including at least a traveling speed of the vehicle, and includes control effectiveness values for the left wheel and the right wheel, respectively, each control effectiveness value corresponding to a yaw moment generated according to a lateral force with respect to a steering angle at zero steering angle.