Control method using yaw rate of four-wheel steering system

摘要

The present invention relates to a control method using a yaw rate of a four-wheel steering system that controls a steering angle of a rear wheel so as to compensate for the difference in behavior when the behavior of a vehicle during driving is different from an expected yaw rate value in a four-.;Since the conventional four-wheel steering system is designed to calculate the target rear wheel angle control device through the front wheel angle and the vehicle speed, there is a problem in that it does not consider the influence on the surrounding situation such as wind and wet road surface,;The present invention is characterized in that a front wheel angle sensing signal and a vehicle speed signal of a vehicle are inputted to a four wheel control logic 16 to calculate a target rear wheel steering angle and to input the front wheel angle sensing signal and a vehicle speed signal, The simulation signal and the yaw rate signal according to the simulation are inputted to the adder 20 as the positive input and the negative input, respectively, and the target rear wheel steering angle of the four-wheel control logic 16 and the operation signal of the adder 20 are Wheel actuator (26) through a controller (24) as a compensation signal generated after the actual rear wheel angle signal detected by the rear wheel angle sensor (30) serving as a positive input is input to the adder (22) This is an invention that can improve stability and maneuverability due to the influence of disturbance.