-4 SYSTEM OF TOTAL CONTROL FOR ELECTRIC 4 WHEEL DRIVE SYSTEM AND METHOD THEREOF

摘要

The present invention relates to a method and apparatus for distributing a driving torque control section, a steering torque control section and a hybrid section according to a driving condition of a vehicle when performing a lane keeping assist system (LKAS) An integrated control method of an E-4WD system is disclosed. The present invention provides a driving method for a vehicle, comprising: detecting driving information including left and right lane images, a steering angle, a steering torque, a yaw rate, and a vehicle speed in a running state; Analyzing the left and right lane images to determine the position of the vehicle in the lane, analyzing the information of the steering angle and the yaw rate which is the rotational angular velocity, analyzing the traveling direction of the vehicle, and determining the possibility of lane departure; Calculating a steering torque and a drive torque for maintaining the lane by executing the integrated mode when the lane departure possibility is determined, and determining the steering target torque and the drive target torque by combining the calculated ratio of the steering torque and the drive torque; And executing the lane keeping function by operating the MDPS with the steering target torque and adjusting the driving force of the left and right wheels with the driving target torque.