Patent ID: 8160780

Claim:
A system for keeping a vehicle in a lane in consideration of a steering wheel contortion angle, comprising: an input information generation unit for measuring variables for dynamic characteristics of a vehicle, and estimating information about lateral motion of the vehicle using the variables for dynamic characteristics of the vehicle; a steering wheel contortion angle calculation unit for calculating a steering wheel contortion angle δ f,c using variables for dynamic characteristics of the vehicle and information about lateral motion of the vehicle, which are provided by the input information generation unit; and a control unit for calculating a desired yaw rate γ d using variables for dynamic characteristics of the vehicle and information about lateral motion of the vehicle which are provided by the input information generation unit, and calculating a command steering wheel angle δ f,c using the desired yaw rate and the information about lateral motion of the vehicle, and generating a compensated command steering wheel angle, which is a sum of the command steering wheel angle and the steering wheel contortion angle which is provided by the steering wheel contortion angle calculation unit.