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A vehicle sometimes pulls to one side during traveling straight. This is caused by lateral disturbance, such as road contour, suspension alignment error and tire properties. This paper describes a new algorithm of reducing steering pull by using electric power steering system(EPS). It is shown that the disturbance can be cancelled with EPS motor torque. The amount of the torque is equal to the steady driver's torque to keep the vehicle straight driving. It is estimated by using statistic method. We validate our study by driving test conducted with an actual vehicle.

It is important to estimate the vehicle state accurately in order to control vehicle behavior. In this study, we used the vehicle sideslip angle as a value indicating vehicle instability. A new method was developed that can estimate the sideslip angle accurately without being affected by driving conditions. This paper describes this new method and presents the results of evaluation tests that demonstrate its effectiveness.

In the first half of this paper describes a new algorithm of an electric power steering system control. The problem of the vehicle with ordinary steering and the reason why it occurs physically are clarified. It is shown as the low damping of the transfer function of steering angle / steering torque at high speed. This is derived from interference between steering system and vehicle system. So, we strictly solved the controller using simple model, and then in order to maintain the stability of the controller, we approximated strict solution as simple controller, that is described as first order non-minimum phase transfer function. and we validate our result of analysis by driving test conducted with an actual vehicle.