고속주행시 요 응답성 향상을 위한 후륜 조향 제어 알고리즘

Abstract

This paper presents a rear wheel steering control method that improves the yaw response while maintaining the vehicle stability at high speeds. A side-slip angle estimator was designed by considering the input and output disturbances to improve the estimation performance. The disturbance is integrated into the vehicle model, and the Kalman filter was designed. The stability index was determined based on the estimated side-slip angle. In addition, a weighting function was introduced to determine the weight according to the index. Finally, a control strategy was proposed to determine the rear wheel steering control input based on the weight. The performance of the proposed method was verified through real- vehicle experiments.