Steering control method for vehicles

1. A steering control method for a vehicle, the method comprising:

determining, by a controller, whether the vehicle is in a turning driving condition based on factors reflecting a driving state of the vehicle;

determining, by the controller, whether an acceleration is occurring in the vehicle when the controller determines that the vehicle is in the turning driving condition; and

providing, by the controller, a restoration compensation torque to a steering restoration direction of the vehicle using a steering motor when the controller determines that the acceleration is occurring,

wherein in the providing of the restoration compensation torque, the restoration compensation torque is determined by relations of a vehicle speed, a steering angle, a steering angular velocity, a steering torque, and a vehicle driving torque, and

wherein the restoration compensation torque is determined by multiplying a restoration amount determined by a relation between the vehicle speed and the steering angle by a first gain value determined according to a magnitude of the steering angular velocity, a second gain value determined according to a magnitude of the steering torque, and a third gain value determined according to a relation between a magnitude of an engine torque and a gear stage.

2. The method of claim 1 , wherein the factors used for determining whether the vehicle is in the turning driving condition are the vehicle speed, the steering angle, and a lateral acceleration; and factors used for determining whether the acceleration is occurring are an engine RPM, the vehicle driving torque, an opening ratio by an accelerator pedal, and a torque transmitted to an external wheel during turning.

3. The method of claim 1 , further including:

determining whether the vehicle has escaped from the turning driving condition after verification of the restoration compensation torque applied; and

releasing the applied restoration compensation torque when the vehicle is determined to have escaped from the turning driving condition.

4. The method of claim 3 , wherein a factor used for determining whether the vehicle has escaped from the turning driving condition is one of the vehicle speed, the steering angle, the vehicle driving torque, and a torque transmitted to an external wheel during turning.

5. The method of claim 1 , wherein in the providing of the restoration compensation torque, the restoration compensation torque is determined by relations of the vehicle speed, the steering angle, a lateral acceleration, a torque transmitted to an external wheel during turning, the engine torque, and an engine RPM.

6. The method of claim 5 , wherein the restoration compensation torque is determined by multiplying a restoration amount that determined by a relation between the vehicle speed and the steering angle by a fourth gain value that is determined according to a magnitude of the lateral acceleration, a fifth gain value that is determined according to a magnitude of the torque transmitted to the external wheel during turning, a sixth gain value that is determined according to a magnitude of the engine torque or a percentage of a current engine torque based a maximum engine torque, and a seventh gain value that is determined according to a magnitude of the engine RPM.

7. The method of claim 1 , wherein in the providing of the restoration compensation torque, the restoration compensation torque is determined by a relation between a lateral acceleration and the engine torque.