METHOD OF DETECTING DEVIATION OF TRAVEL PATH OF VEHICLE
First Claim
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1. A method of detecting a deviation of a travel path of a vehicle, the method comprising:
- a first step of determining whether a steering torque of a driver and a motor torque of a motor driven power steering apparatus have different directions;
a second step of determining whether the vehicle travels at a predetermined speed or higher;
a third step of determining whether the motor torque has a predetermined magnitude or larger; and
a fourth step of determining whether a change rate of a yaw rate is a predetermined value or less.
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Abstract
A method of detecting a deviation of a travel path of a vehicle, may include a first step of determining whether a steering torque of a driver and a motor torque of a motor driven power steering apparatus have different directions, a second step of determining whether the vehicle travels at a predetermined speed or higher, a third step of determining whether the motor torque has a predetermined magnitude or larger, and a fourth step of determining whether a change rate of a yaw rate may be a predetermined value or less.
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8 Claims
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1. A method of detecting a deviation of a travel path of a vehicle, the method comprising:
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a first step of determining whether a steering torque of a driver and a motor torque of a motor driven power steering apparatus have different directions; a second step of determining whether the vehicle travels at a predetermined speed or higher; a third step of determining whether the motor torque has a predetermined magnitude or larger; and a fourth step of determining whether a change rate of a yaw rate is a predetermined value or less. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification