KR102398610B1 - Apparatus and method for compensation controlling steering torque of vehicle - Google Patents

Abstract

The present invention relates to an apparatus and method for controlling steering torque compensation for a vehicle. An apparatus according to the present invention includes: a vehicle information collection unit configured to collect first vehicle information and second vehicle information at the time of vehicle departure; a sudden departure determination unit for determining whether to start suddenly by using the first vehicle information collected by the vehicle information collection unit; When it is determined that the vehicle has started abruptly, torque compensation for adjusting the first steering torque value of the steering wheel calculated according to the second vehicle information based on a preset torque compensation map to a second steering torque value to reduce steering vibration wealth; and a controller configured to control the steering wheel according to the second steering torque value adjusted by the torque compensator.

Description

Apparatus and method for compensation controlling steering torque of vehicle

The present invention relates to an apparatus and method for controlling steering torque compensation for a vehicle.

The currently commercialized electric power steering (EPS) system of a vehicle generates an electric torque to the motor to control the direction of the vehicle in the driving direction desired by the driver. This EPS system serves to reduce the driver's steering force by outputting the assist torque of the motor according to the vehicle speed regardless of the change in the load on the front axle of the vehicle.

However, the EPS system does not include the motor torque compensation control technology for the steering torque change of the steering wheel according to the change in the front axle load when the vehicle starts abruptly. The driver will momentarily reduce the steering torque required to steer. At this time, if the driver inputs the same steering torque as usual, the steering wheel feels loose and a larger steering angle occurs, which may cause the vehicle's driving direction to differ from the driver's intended direction, which may lead to an accident. there is. As such, when the load on the front axle of the vehicle is momentarily changed due to a sudden start, there is a problem in that heterogeneity and instability of the steering feel to the driver is increased, and the risk of an accident is greatly increased.

Meanwhile, Korean Patent Registration No. 10-1425751 is disclosed as a prior art for controlling EPS by compensating for leaning of a vehicle and calculating a tilting compensation torque.

Korean Patent Registration No. 10-1425751 (Registration Date: 2014.07.25.)

An object of the present invention is to provide a steering torque compensation control apparatus and method for a vehicle that can provide a stable steering feeling to the driver even when the front axle load of the vehicle changes by applying the EPS motor torque compensation control technology according to the change in the front axle load of the vehicle. is in

According to an aspect of the present invention, there is provided an apparatus for controlling a steering torque compensation of a vehicle, comprising: a vehicle information collection unit configured to collect first vehicle information and second vehicle information at the time of vehicle departure; a sudden departure determination unit for determining whether to start suddenly by using the first vehicle information collected by the vehicle information collection unit; When it is determined that the vehicle has started abruptly, torque compensation for adjusting the first steering torque value of the steering wheel calculated according to the second vehicle information based on a preset torque compensation map to a second steering torque value to reduce steering vibration wealth; and a controller configured to control the steering wheel according to the second steering torque value adjusted by the torque compensator.

Also, the first vehicle information may include an accelerator pedal pressure amount, an engine RPM, a pitch angle change rate, and a hall IC pulse generation amount of the steering wheel.

In addition, the sudden start determination unit, in the first vehicle information, when the accelerator pedal pressurization amount and the engine RPM satisfy both of a first reference range predefined for a sudden start of the vehicle, it can be determined that the vehicle starts abruptly. there is.

In addition, when it is determined that the vehicle is suddenly starting, the sudden start determination unit satisfies a second reference range predefined for whether the pitch angle change rate and the amount of hall IC pulses of the steering wheel are in an abnormal state of the vehicle. Then, it can be determined that the vehicle is in an abnormal state.

In addition, when it is determined that the vehicle has started suddenly and it is determined that the vehicle is not in an abnormal state, the torque compensator adjusts the second steering torque value to a value having a first ratio of the first steering torque value, When it is determined that the vehicle has started abruptly and it is determined that the vehicle is in an abnormal state, the second steering torque value is adjusted to a second ratio of the first steering torque value, wherein the first ratio is higher than the second ratio can be large

Also, the torque compensator may adjust the adjusted second steering torque value to be increased by a predetermined ratio at a predetermined time interval until it becomes the first steering torque value.

Also, the second vehicle information may be at least one of a vehicle speed, a steering torque, a steering angle, and a steering angular velocity.

On the other hand, the steering torque compensation control method of the vehicle according to the present invention for achieving the above object, the method comprising the steps of collecting first vehicle information and second vehicle information at the time of vehicle departure; determining whether to make a sudden departure using the collected first vehicle information; adjusting a first steering torque value of the steering wheel calculated according to the second vehicle information based on a preset torque compensation map to a second steering torque value to reduce steering vibration when it is determined that the vehicle has started abruptly; and controlling the steering wheel according to the adjusted second steering torque value.

According to the present invention, it is possible to optimally control the EPS system by applying the EPS motor torque compensation control technology according to the change in the front axle load of the vehicle by utilizing the vehicle information when the vehicle starts suddenly, thereby providing a stable steering feeling to the driver. there is an advantage

1 is a view showing the configuration of a steering torque compensation control apparatus for a vehicle according to the present invention.
FIG. 2 is a diagram illustrating abrupt start determination reference information applied to a steering torque compensation control apparatus for a vehicle according to the present invention.
3 is a view showing torque compensation reference information applied to the steering torque compensation control apparatus for a vehicle according to the present invention.
4 is a diagram illustrating a torque compensation map applied to a steering torque compensation control apparatus for a vehicle according to the present invention.
5 is a diagram illustrating an operation flow of a method for controlling steering torque compensation of a vehicle according to the present invention.

Hereinafter, a preferred embodiment according to the present invention will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted.

In addition, in the description of the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are only for easy understanding of the spirit of the present invention and should not be construed as limiting the spirit of the present invention by the accompanying drawings.

1 is a diagram showing the configuration of a steering torque compensation control apparatus for a vehicle according to the present invention. Referring to FIG. 1 , an apparatus for controlling steering torque compensation of a vehicle according to the present invention includes a control unit 110 , a user interface unit 120 , a communication unit 130 , a storage unit 140 , a vehicle information collection unit 150 , and a sudden start. It includes a determination unit 160 and a torque compensation unit 170 . Here, the controller 110 may process a signal transmitted between each part of the steering torque compensation control device of the vehicle.

First, the user interface unit 120 may include an input unit for receiving a control command from a user and an output unit for outputting an operation state and result of the control terminal.

A key button may correspond to the input means, and a soft key implemented on the display of the control terminal may correspond to the corresponding input means. Also, the input means may be an input means such as a mouse, a joystick, a jog shuttle, or a stylus pen.

The output means may include a display on which the operation state and result of the control terminal are displayed, and may include a speaker for guiding the result by voice.

Here, the display may include a liquid crystal display (LCD), an organic light-emitting diode (OLED), a flexible display, and the like.

Meanwhile, the communication unit 130 may include a communication module that supports a communication interface with electronic devices and/or control units provided in the vehicle. As an example, the communication module may be connected to an instrument panel and various sensors provided in the vehicle to receive vehicle information collected by the sensors. Also, the communication module may be connected to an engine, a steering wheel, a starter, and the like of the vehicle to receive status information.

Here, the communication module may include a module supporting vehicle network communication such as CAN (Controller Area Network) communication, LIN (Local Interconnect Network) communication, and Flex-Ray communication.

In addition, the communication unit 130 may include a module for wireless Internet access or a communication module for short range communication. Here, the wireless Internet technology may include a wireless LAN (WLAN), a Wibro (Wireless Broadband, Wibro), Wi-Fi, etc., and also a short-distance communication technology such as Bluetooth (Bluetooth), Zigbee ( ZigBee), Ultra Wideband (UWB), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), and the like may be included.

The communication module may receive an algorithm and/or a control command for compensating steering torque from an external device through wireless Internet communication or short-distance communication, and may transmit a result of steering torque compensation to the external device.

The storage unit 140 may store data and a program required for the steering torque compensation control device of the vehicle to operate.

For example, the storage unit 140 may store a torque compensation map. Also, the storage unit 140 may store parameter information for the first vehicle information and the second vehicle information, and information priority set for each information may be stored. In addition, the storage unit 140 may store abrupt start determination reference information, and may store setting information and/or an algorithm applied to compensate for the steering torque of the steering wheel.

Here, the storage unit 140 includes a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), a programmable read-only memory (PROM), and an electrically erasable programmable read (EEPROM). -Only Memory) may include a storage medium.

Meanwhile, the vehicle information collection unit 150 serves to collect the first vehicle information and the second vehicle information at the time of vehicle departure. In this case, the first vehicle information and the second vehicle information may be collected from sensors and/or driving units of a vehicle that are communicatively connected through the communication unit 130 .

Here, the first vehicle information includes an accelerator pedal pressure amount, an engine RPM, a pitch angle change rate, and a hall IC pulse generation amount of the steering wheel.

Specifically, the first vehicle information is divided into abrupt start determination reference information, which is a criterion for determining whether the vehicle starts abruptly, and abnormal state determination reference information for determining the state of the vehicle when the vehicle starts abruptly.

First, whether the vehicle starts suddenly can be determined based on the accelerator pedal pressure amount and the engine RPM value. That is, the reference range for the quick start determination is a predefined first reference range, for example, as shown in FIG. 2, the accelerator pedal pressurization amount is 90 [%] or more, and the engine RPM is 1000 [RPM/s] or more. , when the accelerator pedal pressurization amount and the engine RPM all satisfy the first reference range, it may be determined that the vehicle starts abruptly. Here, the accelerator pedal pressurization amount is set to be within the accelerator pedal pressurable range, that is, the accelerator pedal pressurization amount is set from 0% when not pressurized to 100% of the maximum pressurization. What is reached may be set as the first reference range.

On the other hand, the state of the vehicle in a sudden starting situation of the vehicle may be considered. In particular, when the vehicle is inclined, the pitch angle of the vehicle is measured through a tilt sensor such as a gyro sensor, and the pitch angle change rate is large. In this case, it may be determined that the vehicle is in an abnormal state. In addition, when the vehicle steering wheel vibrates, the pulse generation amount of the electric column hall IC of the steering wheel is measured, and when the pulse generation amount is large, it can be determined that the vehicle is in an abnormal state. As such, the reference range for determining whether the vehicle state is abnormal during sudden departure is a predefined second reference range, for example, as shown in FIG. 2, the rate of change of the pitch angle of the vehicle is 5 [degree/s] or more, and the steering The pulse generation amount of the electric column hall IC of the wheel may be set to t [times] or more, and the pitch angle change rate of the vehicle and the pulse generation amount of the electric column hall IC are the second reference range When all of , it can be determined that the vehicle is in an abnormal state.

Here, the pulse generation amount of the Hall IC is a pulse signal having a magnitude of 0 to 5V is generated when the handle is manipulated. That is, the generation amount of the pulse signal generated in proportion to the amount of rotation of the steering wheel (steering wheel) in the steering apparatus may be defined as the pulse generation amount of the hall IC. Here, t may be set according to the sensitivity of the sensor, and is set to be at least 1 to determine whether the handle is operated.

Meanwhile, the second vehicle information may correspond to a vehicle speed, a steering torque, a steering angle, and a steering angular velocity. The second vehicle information is used to calculate an assist torque with respect to the input torque of the steering wheel in the preset torque compensation map.

A reference range for calculating the assist torque from the second vehicle information may be represented as shown in FIG. 3 . The reference range for calculating the assist torque for the input torque using the torque compensation map as shown in FIG. 3 is a vehicle speed of 0 to 200 [km/h], a steering torque of 6 [Nm] or less, and a steering angle of ± 520 [degree], and the steering angular velocity may be set to 0 to 1000 [degree/s]. In the present invention, the assist torque calculated from the second vehicle information and the torque compensation map is defined as a first steering torque value, and a detailed description will be given later.

Meanwhile, the sudden departure determination unit 160 determines whether the vehicle is suddenly started using the first vehicle information collected by the vehicle information collection unit 150 .

That is, the sudden start determination unit 160 is configured to select the accelerator pedal from among the information about the accelerator pedal pressurization amount, the engine RPM, the pitch angle change rate, and the hall IC pulse generation amount of the steering wheel collected by the vehicle information collecting unit 150 , the accelerator pedal It may be checked whether the pressurization amount and the engine RPM all satisfy the first reference range, and when the accelerator pedal pressure amount and the engine RPM both satisfy the first reference range, it may be determined that the vehicle starts abruptly.

As an example, as shown in FIG. 2 , the sudden start determination unit 160 may determine that the vehicle starts abruptly when the accelerator pedal pressure is 90% or more and the engine RPM is 1000 [RPM/s] or more.

On the other hand, when it is determined that the vehicle starts suddenly, the sudden start determination unit 160 determines whether the vehicle is abnormal depending on whether the pitch angle change rate and the hall IC pulse generation amount of the steering wheel all satisfy the second reference range. determine whether the state is As an example, as shown in FIG. 2 , the sudden start determination unit 160 determines that the pitch angle change rate of the vehicle is 5 [degree/s] or more, and the pulse generation amount of the electric column hall IC of the steering wheel is t times. If it is abnormal, it may be determined that the vehicle is in an abnormal state.

That is, the sudden start determination unit 160 uses the accelerator pedal pressurization amount, engine RPM, pitch angle change rate, and hall IC pulse generation amount information of the steering wheel collected by the vehicle information collection unit 150, information for a sudden start determination. and information for judging the abnormal state of the vehicle. The reason for this is that, when the posture of the vehicle at the time of a sudden start is in an abnormal state, the risk of a vehicle accident is relatively high compared to the case where the vehicle's posture is abnormal, so that the need to prevent a momentary decrease in the steering torque is greater.

Meanwhile, when it is determined by the sudden start determination unit 160 that the vehicle starts abruptly, the torque compensator 170 compensates the assist torque (first steering torque value) of the steering wheel to reduce steering vibration.

Here, the steering vibration refers to a state in which, when the load on the front axle of the vehicle instantaneously changes due to a sudden start, the steering torque required for steering is momentarily reduced and the steering wheel becomes loose even if the driver inputs the same steering torque as usual. do. Here, the first steering torque value of the steering wheel may be calculated according to the second vehicle information collected by the vehicle information collection unit 150 based on a preset torque compensation map.

When it is determined that the vehicle has started suddenly, the torque compensator 170 applies a first steering torque value calculated based on a preset torque compensation map and second vehicle information to a second steering having a specific ratio of the first steering torque value. Temporarily adjust the torque value.

According to the above adjustment, even if the front axle load of the vehicle momentarily changes due to a sudden start, the steering torque required for steering is momentarily reduced, thereby preventing the steering vibration from occurring. That is, when the load on the front axle of the vehicle instantaneously changes due to a sudden start, the steering torque required for steering is momentarily reduced for the driver. Even when steering torque is input, the steering wheel does not feel loose and a larger steering angle does not occur, thereby preventing a vehicle accident.

Meanwhile, when the torque compensator 170 temporarily adjusts the first steering torque value to the second steering torque value when the vehicle starts suddenly, the second steering torque value is adjusted according to whether the vehicle is in an abnormal state. .

Specifically, when it is determined that the vehicle has started abruptly, any one of the pitch angle change rate and the amount of hall IC pulses of the steering wheel does not satisfy the second reference range, so that the vehicle is not in an abnormal state. If it is determined, the first steering torque value is temporarily adjusted to the second steering torque value having the first ratio, and the pitch angle change rate and the Hall IC pulse generation amount of the steering wheel are within the second reference range. When it is determined that the vehicle is in an abnormal state by satisfying all of , the first steering torque value is temporarily adjusted to a second steering torque value having a second ratio smaller than the first ratio. Referring to FIG. 5 to be described later, for example, the first ratio may be set to 70%, and the second ratio may be set to 50%.

That is, when the vehicle is not in an abnormal state when the vehicle is suddenly started, the risk of an accident is lower than in the case of an abnormal state. Adjust to a value corresponding to a first ratio of the value, for example, 70% of the first steering torque value. On the other hand, since the risk of an accident increases when the vehicle is in an abnormal state when the vehicle is suddenly started, the first steering torque value must be reduced relatively significantly. Adjust to a value corresponding to 50% of the steering torque value.

Meanwhile, the torque compensator 170 adjusts the first steering torque value to the second steering torque value, and then adjusts the second steering torque value to increase by a predetermined rate at a predetermined time interval until it becomes the first steering torque value to do it That is, the first steering torque value is adjusted to the second steering torque value only when the vehicle starts suddenly, and then the second steering torque value is gradually increased until it becomes the first steering torque value so as to be suitable when the sudden start is resolved. Adjust.

Meanwhile, the controller 110 calculates a first steering torque value (assist torque) of the steering wheel according to the second vehicle information collected by the vehicle information collection unit 150 based on a preset torque compensation map. In this case, the controller 110 controls the steering wheel according to the calculated first steering torque value.

Here, the torque compensation map is defined as an assist torque value of a steering wheel motor according to a change in vehicle speed, and may be represented as shown in FIG. 4 .

As illustrated in FIG. 4 , the torque compensation map represents an assist torque value corresponding to the driver's input torque value (Measured Torque), and the torque compensation map represents different graphs according to the vehicle speed. As described above, in the present invention, the assist torque calculated from the second vehicle information and the torque compensation map is defined as the first steering torque value.

The torque compensation map is designed in consideration of the correlation between the speed of the vehicle and the driver's input torque generated from the steering wheel by determining the rated use torque of the motor and the specifications of the reducer according to the target vehicle.

Accordingly, the controller 110 may calculate the first steering torque value of the steering wheel motor by applying the second vehicle information, ie, vehicle speed, steering torque, steering angle, and steering angular speed, to the torque compensation map.

Meanwhile, when it is confirmed that the vehicle starts suddenly, the controller 110 controls the steering wheel by applying the calculated first steering torque value to the second steering torque value adjusted by the torque compensator 170 .

Accordingly, the apparatus for controlling steering torque compensation for a vehicle according to the present invention can provide a stable steering feeling to the driver even when the front axle load of the vehicle changes due to a sudden start. In addition, it is possible to provide a more stable steering feel by varying the second steering torque value according to the state of the vehicle at the time of sudden start.

The control unit 110, the vehicle information collection unit 150, the sudden start determination unit 160, and the torque compensator 170 according to the present embodiment may correspond to at least one processor or include at least one processor. can

The operation flow of the device according to the present invention configured as described above will be described in more detail as follows.

5 is a diagram illustrating an operation flow of a method for controlling steering torque compensation of a vehicle according to the present invention.

As shown in FIG. 5 , the steering torque compensation control device collects the first vehicle information and the second vehicle information when the vehicle starts ( S100 ) ( S110 ).

Here, the steering torque compensation control apparatus determines whether a sudden start is made using the first vehicle information collected in the process 'S110' (S120).

As a result of the determination, the steering torque compensation control device, among the first vehicle information collected in the process 'S110', when the accelerator pedal pressurization amount and the engine RPM all satisfy the first reference range predefined for the sudden start of the vehicle (S130) , the steering torque compensation control device determines that the vehicle has started abruptly.

If it is determined that the vehicle has started abruptly, the steering torque compensation control device sets the pitch angle change rate and the amount of hall IC pulse generation of the steering wheel in the first vehicle information to a predefined second criterion for the abnormal state of the vehicle. When all of the ranges are satisfied, the first steering torque value is temporarily adjusted to the second steering torque value, and in this case, the second steering torque value is adjusted to a second ratio (50%) of the first steering torque value (S150) . If the second reference range for the abnormal state of the vehicle is not satisfied, the second steering torque value is adjusted to a first ratio (70%) of the first steering torque value (S145).

Thereafter, the steering torque compensation control apparatus controls the steering wheel according to the second steering torque value adjusted in the process 'S160' (S160).

On the other hand, the steering torque compensation control apparatus may adjust to increase by a predetermined ratio at a predetermined time interval until the second steering torque value becomes the same as the first steering torque value after the process 'S160' (S170 to S190).

As a result of the determination of the 'S130' process, the steering torque compensation control device determines that the vehicle has not started abruptly if, among the first vehicle information collected in the 'S110', the accelerator pedal pressurization amount and the engine RPM do not satisfy the first reference range. It is determined that the assist torque calculated from the second vehicle information and the torque compensation map is calculated (S135) to control the steering wheel (S160).

The above processes may be directly implemented in hardware executed by a processor, a software module, or a combination of the two. A software module may reside in a storage medium such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, ie, memory and/or storage. An exemplary storage medium is coupled to the processor, the processor can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral with the processor. The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

As described above, in the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but these are only provided to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , various modifications and variations will be possible without departing from the essential characteristics of the present invention by those of ordinary skill in the art to which the present invention pertains. Therefore, the spirit of the present invention should not be limited to the described embodiments, and all technical ideas with equivalent or equivalent modifications to the claims as well as the claims to be described below are included in the scope of the present invention. should be interpreted as

110: control unit 120: user interface unit
130: communication unit 140: storage unit
150: vehicle information collection unit 160: sudden departure determination unit
170: torque compensation unit

Claims (13)

a vehicle information collection unit configured to collect first vehicle information and second vehicle information at the time of vehicle departure;
a sudden departure determination unit for determining whether to start suddenly by using the first vehicle information collected by the vehicle information collection unit;
When it is determined that the vehicle has started abruptly, torque compensation for adjusting the first steering torque value of the steering wheel calculated according to the second vehicle information based on a preset torque compensation map to a second steering torque value to reduce steering vibration wealth; and
a control unit controlling the steering wheel according to the second steering torque value adjusted by the torque compensator; including,
The torque compensator,
When it is determined that the vehicle has started abruptly and it is determined that the vehicle is not in an abnormal state, the second steering torque value is adjusted to a value having a first ratio of the first steering torque value,
When it is determined that the vehicle has started abruptly and it is determined that the vehicle is in an abnormal state, the second steering torque value is adjusted to a second ratio of the first steering torque value,
The first ratio is greater than the second ratio. The method according to claim 1,
The apparatus for controlling steering torque compensation for a vehicle, wherein the first vehicle information includes an accelerator pedal pressure amount, an engine RPM, a pitch angle change rate, and a hall IC pulse generation amount of the steering wheel. 3. The method according to claim 2,
The sudden departure determination unit,
Steering torque of the vehicle, characterized in that it is determined that the vehicle starts abruptly when both the accelerator pedal pressurization amount and the engine RPM among the first vehicle information satisfy a first reference range predefined for a sudden start of the vehicle compensation control. 4. The method according to claim 3,
When it is determined that the vehicle is suddenly starting, the sudden start determination unit satisfies a second reference range predefined for whether the rate of change of the pitch angle and the generation amount of hall IC pulses of the steering wheel are in an abnormal state of the vehicle. A steering torque compensation control apparatus for a vehicle, characterized in that it is determined that the vehicle is in an abnormal state. delete The method according to claim 1,
The torque compensator, when it is determined that the sudden start of the vehicle is resolved,
The vehicle according to claim 1, wherein the second steering torque value adjusted to the first ratio or the second ratio of the first steering torque value is adjusted to increase by a predetermined ratio at a predetermined time interval until it becomes the first steering torque value. of steering torque compensation control. The method according to claim 1,
The second vehicle information is
A steering torque compensation control apparatus for a vehicle, characterized in that at least one of a vehicle speed, a steering torque, a steering angle, and a steering angular velocity. collecting first vehicle information and second vehicle information at the time of vehicle departure;
determining whether to make a sudden departure using the collected first vehicle information;
adjusting a first steering torque value of the steering wheel calculated according to the second vehicle information based on a preset torque compensation map to a second steering torque value to reduce steering vibration when it is determined that the vehicle has started abruptly; and
controlling the steering wheel according to the adjusted second steering torque value; including,
The adjusting step is
When it is determined that the vehicle has started abruptly and it is determined that the vehicle is not in an abnormal state, the second steering torque value is adjusted to a value having a first ratio of the first steering torque value,
When it is determined that the vehicle has started abruptly and it is determined that the vehicle is in an abnormal state, the second steering torque value is adjusted to a second ratio of the first steering torque value,
The first ratio is greater than the second ratio, the steering torque compensation control method of the vehicle. 9. The method of claim 8,
The first vehicle information includes an accelerator pedal pressure amount, an engine RPM, a pitch angle change rate, and a hall IC pulse generation amount of the steering wheel,
The step of determining whether the sudden departure is
Steering torque of the vehicle, characterized in that it is determined that the vehicle starts abruptly when both the accelerator pedal pressurization amount and the engine RPM among the first vehicle information satisfy a first reference range predefined for a sudden start of the vehicle Compensation control method. 10. The method of claim 9,
The step of determining whether the sudden departure is
When it is determined that the vehicle is starting abruptly, if both the rate of change of the pitch angle and the amount of generation of hall IC pulses of the steering wheel satisfy the second reference range predefined for whether the vehicle is in an abnormal state, the vehicle is Steering torque compensation control method of a vehicle, characterized in that it is determined that it is in an abnormal state. delete 9. The method of claim 8,
In the adjusting step, if it is determined that the sudden start of the vehicle is resolved,
The vehicle according to claim 1, wherein the second steering torque value adjusted to the first ratio or the second ratio of the first steering torque value is adjusted to increase by a predetermined ratio at a predetermined time interval until it becomes the first steering torque value. of steering torque compensation control method. 9. The method of claim 8,
The second vehicle information is
A method for controlling steering torque compensation of a vehicle, characterized in that at least one of a vehicle speed, a steering torque, a steering angle, and a steering angular velocity.

Images