APPARATUS AND METHOD FOR CONTROLLING VEHICLE STEERING USING LATERAL ACCELERATION
Disclosed are an apparatus and a method for controlling vehicle steering. The apparatus for controlling vehicle steering includes: a reference lateral acceleration extractor configured to extract reference lateral acceleration based on a vehicle speed and a steering angle; a damping application condition determiner configured to determine whether a damping application condition is met based on the reference lateral acceleration and actual lateral acceleration; and a damping current controller configured to, when it is determined that the damping application condition is met, control the damping current applied to an EPS motor.
1 . An apparatus for controlling vehicle steering, the apparatus comprising:
a reference lateral acceleration extractor configured to extract a reference lateral acceleration based on a vehicle speed and a steering angle;
a damping application condition determiner configured to determine whether a damping application condition is met based on the reference lateral acceleration and actual lateral acceleration; and
a damping current controller configured to, when it is determined that the damping application condition is met, control a damping current applied to an EPS motor.
2 . The apparatus of claim 1 , wherein the reference lateral acceleration is proportional to a square of the vehicle speed and a size of the steering angle.
3 . The apparatus of claim 1 , wherein the reference lateral acceleration is proportional to a result value generated by substituting the vehicle speed for a preset lateral acceleration gain function and is proportional to a size of the steering angle.
4 . The apparatus of claim 1 , wherein, when it is determined that the steering wheel is being returned in a state in which the steering wheel is released, the damping application condition determiner determines that a damping application condition is met before a size of the steering angle reaches a preset threshold angle.
5 . The apparatus of claim 4 , wherein, when an absolute value of the actual lateral acceleration is larger than an absolute value of the reference lateral acceleration by a preset threshold speed or more, the damping application condition determiner determines that the steering wheel is released.
6 . The apparatus of claim 1 , wherein the damping current is proportional to a difference between the absolute value of the actual lateral acceleration and the absolute value of the reference lateral acceleration.
7 . The apparatus of claim 1 , wherein the damping current is proportional to the vehicle speed.
8 . The apparatus of claim 1 , wherein the damping current is inversely proportional to a size of a steering torque.
9 . A method of controlling vehicle steering, the method comprising:
a reference lateral acceleration extraction step of extracting reference lateral acceleration based on a vehicle speed and a steering angle;
a damping application condition determination step of determining whether a damping application condition is met on the basis of the reference lateral acceleration and actual lateral acceleration; and
a damping current control step of controlling damping current applied to an EPS motor when it is determined that the damping application condition is met.
10 . The method of claim 9 , wherein the reference lateral acceleration is proportional to a square of the vehicle speed and a size of the steering angle.
11 . The method of claim 9 , wherein the reference lateral acceleration is proportional to a result value generated by substituting the vehicle speed for a preset lateral acceleration gain function and is proportional to a size of the steering angle.
12 . The method of claim 9 , wherein the damping application condition determination step comprises, when it is determined that the steering wheel is being returned in a state in which the steering wheel is released, determining that a damping application condition is met before a size of the steering angle reaches a preset threshold angle.
13 . The method of claim 12 , wherein the damping application condition determination step comprises, when an absolute value of the actual lateral acceleration is larger than an absolute value of the reference lateral acceleration by a preset threshold speed or more, determining that the steering wheel is released.
14 . The method of claim 9 , wherein the damping current is proportional to a difference between an absolute value of the actual lateral acceleration and an absolute value of the reference lateral acceleration.