KR20160027398A - Apparatus for compensating steering force in mdps system - Google Patents

Abstract

A steering force compensation apparatus of the present invention comprises: a sensor module sensing a vehicle speed, column torque, a steering angle, and a steering angular speed; a right and left deviation compensation module which respectively detects left turn column torque and right turn column torque each corresponding to a left steering angle and a right steering angle of a mutually corresponding size, whenever the vehicle speed, the column torque, the steering angle, and the steering angular speed sensed by the sensor module satisfy predetermined discrimination conditions, calculates a tolerance between the detected left turn and right turn column torque, and calculates right and left difference compensation torque based on the at least one calculated tolerance; and an assist torque compensation unit which reflects the right and left difference compensation torque to an assist torque calculated in a motor driven power steering (MDPS) module and outputs the torque to an MDPS motor.

Description

TECHNICAL FIELD [0001] The present invention relates to an apparatus and method for compensating steering force of an MDPS system,

The present invention relates to an apparatus and method for compensating steering force of an MDPS system, and more particularly, to an apparatus and method for compensating a steering force of an MDPS system by calculating left and right differential compensation torques using column torques respectively detected at steering angles corresponding to each other, To compensate for the difference between the left and right steering forces of the MDPS system.

Power steering of a car is a power steering device that helps the driver to operate the steering wheel. In this power steering, hydraulic pressure is mainly used, but recently, motor driven power steering (MDPS) system using motor power is increasingly used.

The MDPS system is lightweight compared to conventional hydraulic power steering systems, takes up less space and does not require oil change.

However, the conventional electric power steering system has a problem that when the driver steers the steering wheel to the left or right, the left steering force and the right steering force are different from each other due to a mechanical problem or a difference in weight distribution between the left and right of the vehicle.

The background art of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2013-0139081 (2013.12.20).

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a steering angle control apparatus and a steering angle correction method for calculating left and right differential compensation torques using a column torque detected at steering angles corresponding to each other, The present invention also provides an apparatus and method for compensating for the steering force of an MDPS system that compensates for the difference in steering force between the left and right sides of the MDPS system.

Another object of the present invention is to provide an apparatus and method for compensating steering force of an MDPS system that compensates for difference in steering force between left and right sides of an MDPS system to improve steering satisfaction of a driver at the time of traveling.

An apparatus for compensating steering resistance of an MDPS system according to an aspect of the present invention includes a sensor module for sensing a vehicle speed, a column torque, a steering angle, and a steering angular velocity; Whenever the vehicle speed, the column torque, the steering angle, and the steering angular velocity detected by the sensor module satisfy predetermined discrimination conditions, the left column torque and the right column torque corresponding to the left and right steering angles and the right steering angles, respectively, A left and right deviation compensation module for calculating an error between the detected left and right turn column torques and calculating a left and right difference compensation torque based on at least one of the calculated error ratios; And an auxiliary torque compensator for outputting the left and right differential compensation torque to the MDPS motor by reflecting the assist torque calculated by the MDPS module.

In the present invention, it is preferable that the determination condition includes at least one of whether the vehicle speed is less than a set speed, whether the steering angle is included in a setting section within a set steering angle range, whether the steering angle increases with respect to left and right steering directions, And whether or not it is within the speed range.

In the present invention, the left and right deviation compensation module determines whether or not the vehicle speed, the column torque, the steering angle, and the steering angular velocity satisfy predetermined discrimination conditions, and detects the column torque at at least one pair of steering angles corresponding to each other A determination unit; A discrimination unit which calculates the absolute value of the column torque detected by the condition determination unit and compares the column torques at the corresponding steering angles with each other to determine an error; A left and right differential compensation torque calculating means for calculating a sum of all the difference values of the column torques detected at the steering angles corresponding to each other and calculating an average value and then calculating the left and right differential compensation torques using the average value, Calculating section; And a controller for determining an error of each of the column torques in at least one or more pairs of steering angles corresponding to each other through the discrimination unit and calculating the right and left differential compensation torques through the compensation torque calculation unit, And a control unit.

In the present invention, the compensation torque calculation unit calculates the right and left differential compensation torque by multiplying the predetermined tuning factor by the average value and the direction component of the steering angle.

In the present invention, the auxiliary torque compensating unit adds the left and right differential compensation torques to the assist torque of the MDPS module.

In the present invention, the control unit stores the left and right differential compensation torques and renews them each time the left and right differential compensation torque is calculated by the left and right differential compensation torque calculation unit.

In the present invention, when the key signal is inputted and the starting of the vehicle is turned on, the control unit reads the updated left and right differential compensation torques and reflects them to the auxiliary torque.

The steering force compensation method for an MDPS system according to an aspect of the present invention is a method for compensating steering force of an MDPS system, wherein whenever a vehicle speed, a column torque, a steering angle, and a steering angular velocity satisfy predetermined discrimination conditions, Detecting a torque and a butter column torque, respectively; Calculating an error between the detected left-turn and right-column torques, and calculating a left-right difference-compensating torque based on at least one of the calculated errors; And reflecting the left and right differential compensation torque to the assist torque of the MDPS module.

In the present invention, it is preferable that the determination condition includes at least one of whether the vehicle speed is less than a set speed, whether the steering angle is included in a setting section within a set steering angle range, whether the steering angle increases with respect to left and right steering directions, And whether or not it is within the speed range.

In the present invention, the step of calculating the left and right differential compensating torque includes: detecting absolute values of the respective column torques measured at at least one pair of steering angles corresponding to each other; Calculating each difference value of the column torque for each steering angle by using the absolute value at the corresponding steering angle; Summing the difference values and calculating an average value; And calculating the left and right differential compensation torques using the average value.

In the present invention, in the step of calculating the left and right differential compensation torques, the left and right differential compensation torques are calculated by multiplying a predetermined tuning factor by a direction component of the average value and the steering angle.

In the present invention, the step of reflecting the left and right differential compensation torque to the assist torque of the MDPS module may include adding the right and left differential compensation torques to the assist torque of the MDPS module.

The present invention is characterized by further comprising the step of storing and updating the left and right differential compensation torque each time the left and right differential compensation torque is calculated.

The present invention is characterized in that when the key signal is inputted and the starting of the vehicle is turned on, the updated left and right differential compensation torque is read and reflected in the auxiliary torque.

The present invention calculates the left and right differential compensation torques using the column torque detected at the respective steering angles corresponding to each other, compensates the left and right steering force difference of the MDPS system by reflecting the left and right differential compensation torques to the assist torque of the MDPS system, Thereby improving the steering satisfaction of the driver during driving.

FIG. 1 is a block diagram of an apparatus for compensating an anomaly of an MDPS system according to an embodiment of the present invention. Referring to FIG.
2 is a block diagram of a left / right deviation compensation module according to an embodiment of the present invention.
3 is a hysteresis graph in the case where there is no difference between the left turn column torque and the right column torque.
4 is a hysteresis graph in the case where there is a difference between the left turn column torque and the right column torque.
5 is a flow chart of a method of compensating the steering force of an MDPS system according to an embodiment of the present invention.
6 is a flow chart of a method of compensating the steering force of an MDPS system according to another embodiment of the present invention.

Hereinafter, an apparatus and method for compensating a steering force of an MDPS system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. Further, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the user, the intention or custom of the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram of an apparatus for compensating for an impact force of an MDPS system according to an embodiment of the present invention, and FIG. 2 is a block diagram of a left and right deviation compensation module according to an embodiment of the present invention.

Referring to FIG. 1, an apparatus for compensating steering resistance of an MDPS system according to an embodiment of the present invention includes a sensor module 10, an MDPS (Motor Driven Power Steering) module 20, a left / right deviation compensation module 30, And a compensation unit 40.

The sensor module 10 includes a column torque sensor 11, a vehicle speed sensor 12, a steering angle sensor 13 and a steering angle velocity sensor 14, and detects by these sensors 11, 12, 13, And inputs the detected values to the left and right deviation compensation module 30 and the MDPS module 20, respectively.

The column torque sensor 11 is installed in a steering column (not shown) to sense the column torque of the steering column in accordance with steering of the steering column of the driver.

The vehicle speed sensor 12 senses the vehicle speed using the output shaft revolution number of the transmission (not shown). Here, the vehicle speed sensor 12 is not limited to the above-described embodiment, and the vehicle speed sensor 12 may include various sensors as long as it senses the vehicle speed.

The steering angle sensor 13 is installed in the steering column to sense the steering angle of the steering column.

The steering angle velocity sensor 14 senses the steering angle velocity of the steering column. Here, the steering angle velocity sensor 14 may calculate the steering angle velocity by calculating the velocity change of the steering angle sensed by the steering angle sensor 13 described above.

The MDPS module 20 calculates the assist torque using at least one of the column torque, the vehicle speed, the steering angle, and the steering angle velocity sensed by the sensor module 10 described above. Here, the MDPS module 20 can easily calculate the assist torque using at least one of the vehicle speed, the steering angle, and the steering angle velocity, so that a detailed description thereof will be omitted here.

The left and right deviation compensation module 30 detects the column torque at each steering angle corresponding to the predetermined discrimination condition based on the column torque, the vehicle speed, the steering angle and the steering angular velocity sensed by the sensor module 10, Based on the errors of the torques, calculate the left and right difference compensation torque in the left turn and the right turn.

The left and right deviation compensation module 30 includes a condition determination unit 31, a determination unit 32, a left and right difference compensation torque calculation unit 33, and a control unit 34.

The condition determiner 31 determines whether the column torque, the vehicle speed, the steering angle, and the steering angular velocity satisfy predetermined discrimination conditions. If the discrimination condition is satisfied, at least one or more steering angles, for example, +5deg and -5deg, +10 deg and -10 deg, and +15 deg and -15 deg, respectively, and then the absolute values of the detected column torques are detected.

Whether or not the vehicle speed is lower than the set speed, whether the steering angle is included in the setting section within the set steering angle range, whether the steering angle increases with respect to the left and right steering directions, and whether or not the steering angle speed is within the set steering angle speed range .

The reason for determining whether the discrimination condition is satisfied is to prevent data distortion on the column torque at the corresponding steering angles. This will be described with reference to FIG. 2 and FIG.

3 is a hysteresis graph when the left turn column torque is equal to the right column torque, and Fig. 4 is a hysteresis graph when the left turn column torque and the right column torque are different.

If the column torques at the corresponding steering angles, that is, the left turn column torques and the right column torques are the same, as shown in Fig. 2, the same column torques, do.

On the other hand, when the left turn column torque and the right column torque are different, the absolute value of the column torque is sensed at one side and small at the other side at the corresponding steering angles as shown in Fig.

2 and 3 illustrate the case where the steering angle and steering angle are measured at a constant steering angle and steering angle at one vehicle speed, and the hysteresis graphs shown in FIG.

Therefore, when only the column torque measured at the steering angles corresponding to each other is used, the data distortion may occur. By detecting the column torque based on the discrimination condition and setting the discrimination condition in advance, Can be minimized.

First, in the discrimination condition for the vehicle speed, the hysteresis graph has a narrow width and a larger angle as the vehicle speed is higher. Also, the higher the vehicle speed, the less the number of left and right steering operations, and thus the effectiveness of the data measurement may deteriorate. Therefore, the vehicle speed is set to a case where the number of left and right steering is relatively high, for example, 40 km / h or less.

In the discrimination condition for the steering angle, the column torque can not be measured for the entire steering angle range. Therefore, when the steering angle is included in the setting range within the predetermined steering angle range, for example, within the range 5deg Respectively.

In the discrimination condition for the steering direction, as shown in the hysteresis graph, the column torque in the direction in which the steering angle increases and the column torque in the direction in which the steering angle decreases are different from each other. Therefore, the steering direction is set to the same case, and may be set to a case where the left turn steer angle increases, for example.

In the discrimination condition for the steering angle velocity, the column torque of the hysteresis graph becomes larger at the corresponding steering angles when the steering angle velocity is fast. Therefore, the steering angle velocity is in a range of steering angular velocities within a predetermined set steering angle velocity range Respectively.

The discrimination unit 32 detects the absolute values of the column torques at one or more steering angles (± 5 deg, ± 10 deg and ± 15 deg) corresponding to each other in accordance with the judgment result of the condition judging unit 31, And determines the error of each column torque at the corresponding steering angle. That is, the determining unit 32 detects the column torque at + 5 deg and the column torque at -5 deg, respectively, and detects the column torque at +10 deg and the absolute value of the column torque at -10 deg, respectively, The absolute value of the column torque at + 15deg and the absolute value of column torque at -15deg are respectively detected. The absolute values of + 15deg and -5deg, the error at + 10deg and -10deg, and +15deg, And 15deg, respectively.

When the error of the column torque at the steering angles (+ 5deg and -5deg, +10deg and -10deg, and +15deg and -15deg) corresponding to each other is discriminated by the discrimination unit 32, the left- Calculates the average value of all the difference values of the column torques detected at the steering angles corresponding to each other, and calculates the left and right differential compensation torques using the calculated average value.

That is, the left / right differential-com- pression torque calculator 33 calculates the difference between the left-turn column torque and the right-column torque at each steering angle corresponding to each of the left column column torque and the right column column torque measured at at least one pair of steering angles . That is, the left and right differential-com- pression torque calculator 33 calculates the difference of the column torque detected at + 5deg and -5deg, the difference of the column torque detected at + 10deg and -10deg, And calculates the torque difference value, respectively.

Thereafter, as described above, the left and right differential-com- pression torque calculator 33 sums the difference values of the column torques for the respective steering angles corresponding to each other, and calculates the average value thereof.

After calculating the average value, the left and right differential-com- pression torque calculator 33 calculates the left and right differential com- pression torques using the average value.

In this case, the left and right differential compensation torque calculation section obtains the left and right differential compensation torque by multiplying the tuning factor, a direction component of the average value and the steering angle by a preset tuning factor. Here, the direction component of the steering angle is applied in accordance with the steering direction of the actual steering wheel. That is, according to the actual rotation direction of the steering wheel, (+) or (-) is applied in the calculation so that the left and right differential compensation torque can be appropriately compensated for the steering direction of the steering wheel. Also, the tuning factor is set in advance as a constant. Since the left and right differential compensation torque is calculated on the basis of the average value as described above, it is relatively small in comparison with the assist torque of the MDPS module 20. The tuning factor adjusts its size so that the left and right differential compensating torque corresponds to the auxiliary torque magnitude of the MDPS module 20. [ This allows the subsequent right and left differential compensating torque to be sufficiently reflected in the assist torque of the MDPS module 20.

The control unit 34 generally controls the left and right deviation compensation module 30. The control unit 34 determines whether or not each of the column torques detected at at least one or more steering angles through the discrimination unit 32 And calculates the right and left differential compensating torques through the left and right differential compensating torque calculating section 33 using these errors.

In this case, the control unit 34 stores the updated left and right differential compensation torque in a memory (not shown) and updates the left and right differential compensation torque, and reflects the left and right differential compensation torque whenever the steering column is rotated to the left or right. Further, by storing the left and right differential compensation torques as described above, the control unit 34 reads the stored left and right differential compensation torques stored in the memory at the time of starting the first vehicle and reflects them in the auxiliary torque, So that it can compensate for the batting force.

Finally, the assist torque compensating unit 40 reflects the assist torque of the MDPS module to the left and right difference compensation torques calculated by the left and right deviation compensating module 30, and outputs it to the MDPS motor (not shown).

In this case, the assist torque compensating section 40 may add the left and right differential compensation torques calculated by the left and right deviation compensating module 30 to the assist torque of the MDPS module 20. [

That is, the driver calculates the left and right differential compensation torque based on the column torque at the time of operating the steering wheel according to an embodiment of the present invention, and reflects the left and right differential compensation torques to the assist torque of the MDPS module 20, The weight felt by the driver can be minimized.

Hereinafter, a method of compensating the steering force of the MDPS system according to an embodiment of the present invention will be described in detail with reference to FIGS. 5 and 6. FIG.

5 is a flow chart of a method of compensating the steering force of an MDPS system according to an embodiment of the present invention.

5, the column torque sensor 11 of the sensor module 10 senses the column torque of the steering column, the vehicle speed sensor 12 senses the vehicle speed, and the steering angle sensor 13 senses the steering angle of the steering column, and the steering angle velocity sensor 14 senses the steering angle velocity of the steering column (S20).

Accordingly, the MDPS module 20 calculates the assist torque using at least one of the column torque, the vehicle speed, the steering angle, and the steering angle velocity sensed by the sensor module 10 described above.

On the other hand, the left and right deviation compensation module 30 detects the column torque at at least one pair of steering angles corresponding to the predetermined discrimination condition (S30).

That is, the condition determiner 31 of the left and right deviation compensating module 30 determines whether the vehicle speed, the column torque, the steering angle, and the steering angular velocity are within a predetermined discrimination condition, that is, whether the vehicle speed is less than the set speed, Whether the steering angle increases with respect to each of the left and right steering directions, and whether the steering angle velocity is within the set steering angle velocity range. If all of the above discrimination conditions are satisfied, .

The determination unit 32 then compares the absolute values detected by the condition determination unit 31 with each other to determine the error of these absolute values.

If an error is determined at this time, the left and right differential-com- pression torque calculator 33 calculates the average value of the differences of the column torques detected at at least one pair of steering angles corresponding to each other (S40) The differential compensation torque is calculated (S50).

That is, the left and right differential-car-torque calculation unit 33 calculates the difference value of the column torque for each of the steering angles corresponding to each other by using the absolute values of the column torques measured at one or more steering angles corresponding to each other, The compensation torque calculation section 33 calculates the average value of the difference values of the column torques calculated for each steering angle.

Then, the left and right differential-com- pression torque calculator 33 multiplies the average value by the direction components of the tuning factor and the steering angle to calculate a left-right differential-com- pression torque. At this time, the control section 34 stores the left and right differential compensation torques calculated by the left and right differential compensation torques.

When the left and right differential compensation torque is calculated by the left and right deviation compensation module 30 as described above, the auxiliary torque compensation section 40 adds the auxiliary torque of the MDPS module 20 to the right and left deviation compensation modules 30, The differential compensation torque is reflected (S60), and the assist torque reflecting the left and right differential compensation torque is output to the MDPS motor (S70).

In the meantime, although the method of compensating the steering force of the MDPS system according to the above-described embodiment has been described by way of example in which the right and left differential compensation torques are calculated and reflected in the auxiliary torque in real time during traveling, the technical scope of the present invention is limited to the above- It is not.

For example, in a method of compensating steering resistance of an MDPS system according to another embodiment of the present invention, the left and right differential compensation torque is stored in a memory (not shown) each time the left and right differential compensation torque is calculated, Not only the compensation torque is reflected every time when the vehicle is turned to the left or right, but also the assist torque is compensated even when the vehicle is running for the first time after the start-up. This will be described with reference to FIG.

6 is a flow chart of a method of compensating the steering force of an MDPS system according to another embodiment of the present invention.

Referring to FIG. 6, first, the controller 34 determines whether the vehicle is turned on (S110). If it is determined that the engine is started, the controller 34 reads the previously stored left / right differential compensation torque from the memory (S120).

In addition, the MDPS module 20 calculates the assist torque using the column torque, the vehicle speed, the steering angle, and the steering angle speed input from the sensing module, and outputs the assistance torque to the MDPS motor.

At this time, the control unit 34 reflects the left and right differential compensation torques in the steering column rotation to the MDPS module 20 (S130), and compensates the difference between the left and right steering forces.

Further, the control unit 34 calculates the left and right differential compensation torque through the left and right deviation compensation module 30 as shown in FIG. 5 (S140), and stores the calculated left and right differential compensation torque.

Here, the process of calculating the left and right differential compensation torque by the lateral deviation compensation module 30 has been described in detail with reference to FIG. 5, and a description thereof will be omitted.

In the meantime, in the above-described process, when the starting is turned off after the right and left differential compensation torques are stored, and then the starting is again turned on, the previously stored left and right differential compensation torques are reflected in the auxiliary torque as shown in FIG.

In this embodiment, the left and right differential compensation torques are calculated by using the column torque detected at the respective steering angles corresponding to each other, and the left and right steering assist torque of the MDPS system is reflected in the assist torque of the MDPS system, Thereby improving the driver's steering satisfaction at the time of driving.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

10: Sensor module 11: Column torque sensor
12: vehicle speed sensor 13: steering angle sensor
14: Steering angle velocity sensor 20: MDPS module
30: lateral deviation compensation module 31: condition judging unit
32: discrimination unit 40: left / right difference compensation torque calculation unit
34: control unit 40: auxiliary torque compensating unit

Claims (14)

A sensor module for sensing a vehicle speed, a column torque, a steering angle and a steering angular velocity;
Whenever the vehicle speed, the column torque, the steering angle, and the steering angular velocity detected by the sensor module satisfy predetermined discrimination conditions, the left column torque and the right column torque corresponding to the left and right steering angles and the right steering angles, respectively, A left and right deviation compensation module for calculating an error between the detected left and right turn column torques and calculating a left and right difference compensation torque based on at least one of the calculated error ratios; And
And an auxiliary torque compensator for reflecting the left and right differential compensation torque to an assist torque calculated by the MDPS module and outputting it to an MDPS motor.
The method according to claim 1,
Whether or not the vehicle speed is less than a set speed, whether the steering angle is included in a setting interval within a set steering angle range, whether the steering angle increases with respect to left and right steering directions, and whether the steering angle speed is within a set steering angle speed range Wherein the steering system comprises:
The apparatus of claim 1, wherein the left / right deviation compensation module
A condition determining unit for determining whether a vehicle speed, a column torque, a steering angle, and a steering angular velocity satisfy a predetermined discrimination condition, and detecting a column torque at at least one pair of steering angles corresponding to each other;
A discrimination unit which calculates the absolute value of the column torque detected by the condition determination unit and compares the column torques at the corresponding steering angles with each other to determine an error;
A left and right differential compensation torque calculating means for calculating a sum of all the difference values of the column torques detected at the steering angles corresponding to each other and calculating an average value and then calculating the left and right differential compensation torques using the average value, Calculating section; And
And a controller for determining an error of each of the column torques in at least one or more steering angles corresponding to each other through the determination unit and calculating the right and left differential compensation torques through the compensation torque calculator, Wherein the MDPS system further comprises:
4. The apparatus of claim 3, wherein the compensation torque calculation unit
Wherein the left and right difference compensating torque is calculated by multiplying the predetermined tuning factor by the average value and the direction component of the steering angle.
2. The apparatus of claim 1, wherein the assist torque compensator
And the left and right differential compensation torques are added to the assist torque of the MDPS module.
2. The MDPS system according to claim 1, wherein the control unit stores the left and right differential compensation torques each time the left and right differential compensation torque is calculated by the left and right differential compensation torque calculation unit, .
The apparatus as claimed in claim 6, wherein when the key signal is inputted and the starting of the vehicle is turned on, the control unit reads the updated left and right differential compensation torque and reflects the assist torque in the auxiliary torque.
Detecting a left column torque and a right column torque corresponding to left and right steering angles and right steering angles respectively corresponding to the vehicle speed, the column torque, the steering angle, and the steering angular velocity, respectively, when the predetermined discrimination condition is satisfied;
Calculating an error between the detected left-turn and right-column torques, and calculating a left-right difference-compensating torque based on at least one of the calculated errors; And
And reflecting the left and right differential compensation torque to the assist torque of the MDPS module.
9. The method according to claim 8,
Whether or not the vehicle speed is less than a set speed, whether the steering angle is included in a setting interval within a set steering angle range, whether the steering angle increases with respect to left and right steering directions, and whether the steering angle speed is within a set steering angle speed range Wherein the method comprises the steps of:
9. The method of claim 8, wherein calculating the left and right differential compensation torque comprises:
Detecting an absolute value of each of the column torques measured at at least one or more steering angles corresponding to each other;
Calculating each difference value of the column torque for each steering angle by using the absolute value at the corresponding steering angle;
Summing the difference values and calculating an average value; And
And calculating the left and right differential compensation torques using the average value.
11. The method according to claim 10, wherein, in calculating the right and left differential compensation torque,
Wherein the left and right differential compensating torque is calculated by multiplying a predetermined tuning factor by a direction component of the average value and the steering angle.
9. The method as claimed in claim 8, wherein the step of reflecting the left-
And the left and right differential compensation torques are added to the assist torque of the MDPS module.
The method as claimed in claim 8, further comprising the step of storing and updating the left and right differential compensation torque each time the left and right differential compensation torque is calculated.
14. The method as claimed in claim 13, wherein when the key signal is inputted and the starting of the vehicle is turned on, the updated left-right differential compensation torque is read and reflected in the auxiliary torque.

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