조향각 제어 장치, 그를 포함한 차로 추종 보조 시스템 및 그 방법
The present invention refers to the steering angle number device, a difference following assistance system and method relates to using the same, more particularly a vehicle driver steering angle this material feeling when robust steering angle number embossing while minimizing disturbance execute technique are disclosed. Central to travel about a steering device follow a difference number plower automatically drive assist system is a memory system. A difference in the location of the vehicle lane recognition sensor vehicle steering angle is calculated and then the need for a difference to a centrally located, request for follow-up steering angle according to steering torque alarm number transmit steering torque exerted is controlled via etched. However, at least one of rotational torque and reconstruction is performed when steering systems based spraying large again steering torque difference by which greater torque direction while the pin is a good number exists in the vehicle steering angle as the point. In particular in the case of difference between the incisions of the behavior driver maintained a difference following assistance system for this material feeling when the driver feel a difference but combined following strong steering number can be. The current difference follow and assist system that minimizes this material feeling of a driver steering direction by performing embossing number number set to be affected by the vehicle steering magnets weakly susceptible to disturbance when the number in a transmission and in particular road large again steering-based spraying vehicle can be disclosed. The steering angle is varied by a proportional gain situation number according of the present invention in the embodiment steering angle error value transistor is small gain by applying embossing to minimize vehicle steering system of this material feeling when disturbance is installed following emitter speakers magnets can be applied to gain a steering angle number the device number, a difference following assistance system and method using the same number a broadcast receiver. In addition, a driver approaches of the present invention in the embodiment according to gain increased speed attenuation and recovery speed torque increase the stability of the system the valve number steering angle number device, follow and assistance system and method using the same difference number a broadcast receiver. Specific techniques of the present invention mentioned above are descriptive and not one number number number into, not in yet another technique mentioned below may be understand from specific number are clearly to one skilled in the substrate are disclosed. The device according to an embodiment of the present invention steering angle number is steering angle error value according to an increase or decrease determining steering angle gain variable steering angle gain (Gain) variable speed judging section; said variable speed according to steering angle gain steering angle gain calculating unit for calculating a steering angle; calculating final gain driver steering angle gain will reflect steering angle gain adjustment section; and said steering torque exerted using final gain calculated steering torque exerted calculation unit; can be a. In one in the embodiment, said steering angle gain variable determiner determines, said steering angle error value calculated, said predetermined reference value steering angle error value as compared to said steering angle gain variable speed variable speed determining unit for determining an increase or decrease; increased maximum gain when determining maximum gain selecting unit for selecting said steering angle gain variable speed; can be a. In one in the embodiment, said steering angle gain variable determiner determines, initial gain, said maximum gain, said maximum gain to said initial gain in time reaches the first conductive layer variable for determining the rate increased variable speed decision unit; and said initial gain, said maximum gain, said maximum gain in time reaches said initial gain decrease in the IR energy reduced variable speed variable speed decision unit; can be further comprises In one in the embodiment, said steering angle gain variable determiner determines, whether the maximum value steering torque exerted to the electronic content, said steering torque exerted when it reaches said maximum value number steering angle gain variable speed variable speed setting unit can set an efficiency further. In one in the embodiment, said variable speed determiner determines, by computing a steering angle error value, said steering angle error value is placed turned off and the steering angle gain variable speed increase is below said reference value said variable gain to reduce the rate of said steering angle error value determiner determines whether the steering angle can be. In one in the embodiment, variable speed determiner determines said, chamber number steering angle value of a change in the steering angle error value by computing a required steering CW laser comprising said can. In one in the embodiment, said steering angle gain regulator is, by adjusting the gain control number 1 driver intervention down when said steering angle gain ratio calculating gain control ratio calculating part number 1; said driver intervention number calculating said number 1 number 2 after recovery of the valve timing of the gain adjustment ratio gain control ratio gain control ratio calculating part number 2; can be a. In one in the embodiment, said steering angle gain regulator is, said steering angle gain given to driver steering angle gain calculating said number 2 will reflect gain control driver will the feature extracting unit; can be further comprises. In one in the embodiment, said steering angle gain regulator is, said laminated driver will reflect initial gain calculating sums up the final gain steering angle further comprises said final gain calculation can be. In one in the embodiment, said steering angle gain regulator is, steering angle gain setting maximum and minimum value of said driver will reflect driver will reflect one steering angle gain number can be further comprises an interlocking feature. In one in the embodiment, steering torque exerted said section, said final steering gain, said steering angle error value, the steering number differential gain, steering number using said integrated gain can be calculated steering torque exerted a. According to an embodiment of the present invention is designed to update steering assist system outputs number chamber steering angle difference following a steering angle sensor; calculating a difference following a request for vehicle steering angle difference follow and outputs the number position violations; sensing vehicle torque value output from torque sensor; and said chamber number steering angle value according to said steering angle error value required steering CW laser steering angle number comprising the device can be steering angle adjusting the gain. In one in the embodiment, the device includes said steering angle number, said steering angle error value is below said reference value to a preset steering angle gain reduces said preset steering angle error value can be turned off and the comprising increasing said steering angle gain. In one in the embodiment, the device includes said steering angle number, said steering angle error value according to said steering angle gain variable speed increase or decrease steering angle gain variable a judging section; said variable speed according to steering angle gain steering angle gain calculating unit for calculating a steering angle; calculating final gain driver steering angle gain will reflect steering angle gain adjustment section; and said steering torque exerted using final gain calculated steering torque exerted calculation unit; can be a. The method according to an embodiment of the present invention to steering angle number steering angle error value according to an increase or decrease variable speed determining steering angle gain (Gain); steering angle variable speed according to said steering angle gain calculator includes; driver will do the final gain calculator includes reflecting said steering angle gain; and said steering torque exerted can be calculated using the final gain. In one in the embodiment, said steering angle gain variable speed increase or decrease step of determining, said steering angle error value calculated, said predetermined reference value compared with said steering angle gain steering angle error value determining an increase or decrease variable speed; determining maximum gain pattern being increased when said steering angle gain variable speed; initial gain, said maximum gain, in said initial gain reaches maximum gain to said time determining variable speed the first conductive layer; and said initial gain, said maximum gain, said maximum gain in said initial gain decrease in time determining variable speed reaches the IR energy; can be a. In one in the embodiment, said steering angle gain variable speed increase or decrease step of determining, by the publisher steering torque exerted reaches maximum value, said maximum value steering torque exerted when it reaches said steering angle gain variable speed setting number of the screen door; comprising further including can be. In one in the embodiment, said steering angle gain variable speed determining step includes an increase or decrease, by computing a steering angle error value, said steering angle error value is placed turned off and the steering angle gain variable speed increase is below said reference value said variable gain to reduce the rate of said steering angle error value determiner determines whether the steering angle can be. In one in the embodiment, the final gain calculator includes said, driver intervention by adjusting the gain control number 1 down when said steering angle gain ratio calculator includes; said driver intervention said number 1 number 2 number after recovery of the valve timing of the gain adjustment ratio calculator includes gain adjustment ratio; said number 2 to said steering angle gain given steering angle gain calculator includes a driver will reflect gain control; and said driver will reflect initial gain sums up the final gain comprising said laminated steering angle to that can. In one in the embodiment, steering torque exerted said calculating step, said final steering gain, said steering angle error value, the steering number differential gain, steering number using said integrated gain can be calculated steering torque exerted a. The technique may be steering angle error value transistor is by applying small gain steering system of this material feeling when disturbance to minimize vehicle steering angle error whose value increases with embossing is installed by applying robust number to gain can be magnets. In addition, the techniques may gain increased speed attenuation and recovery speed number according to the valve timing of the driver torque increase the stability of the system can be. Figure 1 shows a device according to an embodiment of the present invention to follow and assistance system including a steering angle number of difference also are disclosed. Figure 2 shows a of Figure 1 steering angle gain Variable A judging section of construction details also are disclosed. Figure 3 shows a maximum gain selecting method for selecting the maximum gain in to explain agent of of Figure 2 are disclosed. Figure 4 shows a construction details of gain controls steering angle according to an embodiment of the present invention also are disclosed. Figure 5 shows a driver involvement from the variable speed adjustment due for graph according to an embodiment of the present invention are described also are disclosed. Figure 6 shows a steering angle according to an embodiment of the present invention indicating the order number method also are disclosed. Figure 7 shows a detailed method according to an embodiment of the present invention to steering angle number order also are disclosed. Figure 8 of the existing method of the present invention compares the path the path represents a steering angle number steering angle number are disclosed. Figure 9 shows a configuration of computer system applying the method according to an embodiment of the present invention also steering angle number are disclosed. Hereinafter, in the embodiment of the present invention are exemplary drawing portion through detailed as follows. Each of the drawings in adding references components, although other drawing even for the same components displayed on a possible code accomplishing the same may have a significantly negative. In addition, so that the of the present invention in the embodiment described, publicly known or a function of the specific description associated according to a description of the present invention in the embodiment determines that would operated dispensed to each other. Components of the present invention in the embodiment described is provided to, number 1, number 2, A, B, (a), (b) using terms such as can be. Other components such terms having an element discriminate between the hell of, its terms corresponding components are not limited by the nature of the or the like or sequence. In addition, other not more precisely defined, scientific or technical terms so that all terms in the present invention thus is provided to the generally by the same person with skill in the art will have the meanings. Generally defined dictionary used for providing language translators such as terms having the meanings associated technology must be interpreted with semantics and match, the application will not become manifest in defining, or overly formal sense interpreted not ideal. Hereinafter, with reference to the 1 to 9 may also, of the present invention in the embodiment to explain specifically are less than 1000. Figure 1 shows a difference of degrees and also according to an embodiment of the present invention following assistance system, Figure 2 shows a construction details degrees and judging section of variable steering angle gain (Gain), maximum gain selecting unit Figure 3 of Figure 2 (412) for selecting a maximum gain in drawing to explain the method are disclosed, steering angle gain adjustment section of construction details of Figure 1 Figure 4 according to an embodiment of the present invention are disclosed. The reference also 1, according to an embodiment of the present invention difference follow and assist system steering angle sensor (100), violations of the difference following position number (200), torque sensor (300), the steering angle number device (400) having a predetermined wavelength. Steering angle sensor (100) is a seal number if the current vehicle steering angle sensing steering angle steering angle number the device (400) output to the. Violations of the difference following position number (200) steering angle for the vehicle passenger difference calculated steering angle number request follow and number the device (400) output to the. Torque sensor (300) is the steering angle number if the current vehicle torque value by sensing device (400) output to the. The steering angle number device (400) includes a steering angle gain situation by variable steering angle error value transistor is small gain by applying embossing vehicle steering system of this material feeling when steering angle error value to minimize disturbance to other speakers number applying gain goes up large magnets. The steering angle error value is required steering angle chamber following error value as a difference angle of a number referred to each other. In addition, steering angle number the device (400) balancing will reflect a driver approaches a driver steering angle gain by computing a steering angle by applying a driver to cowl with the formula number. To this end, the steering angle number device (400) includes a steering angle gain variable a judging section (410), steering angle gain calculation section (420), steering angle gain adjustment section (430), steering torque calculation unit (440) having a predetermined wavelength. Steering angle gain variable a judging section (410) includes a steering angle error value (following error value) of a gain variable steering angle according to one side, an increase or decrease determines steering angle gain variable speed. The, steering angle gain is generally fixed initial value (Kini) applied which, in the present invention steering angle gain steering angle error value (Kmax) (Kini) and maximum values in a range between the initial value in variable. The fourth direction steering angle gain is varied in accordance maximum initial value (Kmax) R0 (Kini) increased direction, in the direction to be reduced to maximum initial value (Kmax) (Kini) suitable for a decreasing directions. Increased speed and increased direction as a variable speed, variable speed reducing direction as ramp down rate reduced by d. In addition, steering angle gain variable a judging section (420) is the maximum value of the steering angle gain variable speed variable speed and reduced maximum choose and initial value determines the first conductive layer. Steering angle gain calculation section (420) to determine the steering angle is variable speed according to steering angle gain. Steering angle gain adjustment section (430) is to determine the final gain will reflect driver steering angle gain. Steering torque calculation unit (440) is to determine the final gain using steering torque exerted. The reference 2 also, steering angle gain variable a judging section (410) includes a steering angle gain variable a judging section (410) steering angle using a request steering angle contrast chamber number variable that determines whether the other steering angle gain error value. I.e., steering angle gain variable a judging section (410) includes a steering angle error value according to an increase or decrease determines steering angle gain variable speed. To this end, steering angle gain variable a judging section (410) includes variable speed judging section (411), maximum gain selecting part (412), increased variable speed decision unit (413), reduced variable speed decision unit (414), variable speed setting section (415) having a predetermined wavelength. Variable speed judging section (411) is greater than a reference value when the steering angle error value to a preset steering angle gain variable speed according to the speed, steering angle error value less than a preset reference value when steering angle gain controlled variable determined substrate. A request steering angle, A thread number is steering angle, The predetermined reference value are disclosed. It is infinitely increasing steering angle gain when steering system (453) can be conform the, maximum gain selecting unit (412) is reduced steering system for determining variable speed γ + increased on variable speed γ (453) for stable maximum gain Kmax for selecting other. In Figure 3 calculation section (451) target steering angle R (s) is the difference of the steering angle and the current Y (s) calculating, calculation section (452) is multiplied steering angle error steering angle gain calculating steering torque exerted, steering-based system (453) is fixed in a steering angle change input steering torque exerted by the base. The, maximum gain kmax expressions such as method 2 is below the lower end of the substrate. The, Y (s) has a current steering angle, R (s) includes a target steering angle, S204 conversion values (s) C is big. Maximum gain selecting unit (412) is 2 (s)=-1 kmaxC satisfying all angles in to the complex plane in left half department S kmax maximum gain so that there for selecting other. Increased variable speed decision unit (413) is said maximum gain Kmax expressions such as initial gain on the initial gain difference Kini k 3Ini K value determined from maximum gainMax T reaches up timeInc Is formed between the, variable speed γ increased+ Determines a. The, time tInc Mass can be determined. Reduced variable speed decision unit (414) is said maximum gain Kmax 4 expressions such as maximum gain k Kini initial gain on the differenceMax In an initial gain kIni T time reduced valueDec Reduced γ divided into variable speed- Determines a. T timeDec Mass can be determined. Variable speed setting section (415) is increased variable speed decision unit (413) and reduced variable speed decision unit (414) increased variable speed or decrease determined in variable speed setting substrate. Only, will reach a maximum value steering torque exerted if so to prevent said gain increase steering angle following error is generated expressions such as steering angle gain variable speed 0 5 can be set. The, greatest number Tmax and steering torque exerted Tsys steering torque exerted is chamber are disclosed. Steering angle variable gain and current sampling time (t) is Ka, ka steering angle variable gain and the previous sampling time (t-a 1) The steering angle gain calculation section (420) is 6 angles using variable speed increased as the variable speed or decreased to determine the steering angle gain. The reference also 4, steering angle gain adjustment section (430) is steering angle gain calculation section (420) calculated in the driver will determine the final gain doesn't steering angle gain. To this end, steering angle gain adjustment section (430) is gain control ratio calculating part number 1 (431), gain control ratio calculating part number 2 (432), driver will the feature extracting unit (433), driver will reflect steering angle gain number one copy (434), final gain calculation unit (435) having a predetermined wavelength. Gain control ratio calculating part number 1 (431) is below 7 expressions such as, driver intervention to prevent unnecessary increase in gain gain LCP alignment substrate. Wherein the gain adjustment ratio L 1, Tdrv torque driver approaches are disclosed. Figure 5 shows a driver intervention also according to an embodiment of the present invention are described for adjusting variable speed due to driver torque and the horizontal axis as graph axis L by big value. Referring also 5 device includes torque 0. 5 Hereinafter L 1 0 in maintaining the driver torque switches. 5 Reaches or exceeds the driver torque motor and the L 1 L L 0 is know is wrong is can be. Number 2 gain adjustment ratio calculating part (432) is below 8 expressions such as, driver's steering intervention to prevent unnecessary gain rise during a period of weeks after recovery of L value number valve timing of the other. Wherein, the gain adjustment ratio 2 F are disclosed. The, recovery of logic expressions 9 L value number is arched relayed such as disclosed. Driver will the feature extracting unit (433) is below 10 expressions such as, steering angle variable gain driver will reflect other. By applying torque Tdrv driver will driver can reflect disclosed. Kad steering each variable gain and a driver approaches will reflect, ka steering angle is variable gain are disclosed. Steering angle gain driver will reflect number one copy (434) is a mathematical equation 11 below such as, steering angle gain is set maximum and minimum value of steering angle gain range number valve timing of the other. Final gain calculation unit (435) is a mathematical equation 12 below such as to determine the final gain sums up the driver will reflect an initial gain steering angle gain. Final gain calculation unit (435) a driver approaches will reflect conventional steering each variable gain kad number to determine the initial value by adding the final steering ktot kini gain proportional gain. Steering torque calculation unit (440) is such as to determine the final steering angle gain expressions for steering torque exerted below 13. Is the proportional gain and the differential gain kder ktot steering number number steering, steering is integrated gain kintg number are disclosed. Steering torque calculation unit (440) is final steering gain, steering angle error value, the steering number differential gain, steering number to determine the steering torque exerted using integrated gain. Thus, the present invention refers to variable number by the steering angle gain, while maintaining robust against disturbance and spraying vehicle steering system of feeling to a number can be magnets. Hereinafter, with reference to fig. 6, to explain the method according to an embodiment of the present invention steering angle number less than 1000. The steering angle number device (400) includes a chamber (S100) to determine the steering angle number required steering CW laser steering each error value. Then, the steering angle number device (400) is required steering angle steering angle according to steering angle error value determines (S200) steering angle variable speed, steering angle number the device (400) is to determine the steering angle variable speed according to steering angle gain (S300). The steering angle number device (400) is to determine the steering angle gain using steering angle gain adjustment of the last gain (S400). The steering angle number device (400) is to determine the final gain steering torque exerted using (S500). Hereinafter, with reference to the steering angle number method according to an embodiment of the present invention 7 also to explain specifically less than 1000. The steering angle number device (400) is greater than a predetermined reference value by computing a steering angle error value over steering angle error size (S101), steering angle error size greater than a predetermined reference value (S102) applied variable speed and steering angle gain, steering angle error size if it is less than a predetermined reference value (S103) variable controlled steering angle gain applied to each other. Then, the steering angle number device (400) includes a steering torque (S104) determines whether the maximum torque, steering torque exerted when it reaches maximum value (S105) steering angle gain variable speed CD switchboard number. Then, the steering angle number device (400) includes a steering angle gain variable velocity calculated steering angle gain, said process S104 steering torque exerted maximum value of the vehicle has not reached (S106) to determine the variable speed while maintaining steering angle gain. Ear, steering angle number the device (400) is calculated steering angle gain driver driver will apply torque to reflect (S107) to determine the steering angle gain. The, steering angle number the device (400) will reflect a driver approaches maximum and minimum value of steering angle gain set (S108), calculates a final gain (S109). I.e., steering angle number the device (400) when a driver approaches intervention by adjusting the gain control ratio calculated steering angle gain down number 1, number 2 after recovery of the valve driver intervention for adjusting gain ratio calculated gain adjustment ratio number said number 1, number 2 will reflect driver steering angle gain calculated steering angle gain given to gain control, and sums up the initial gain to determine the final gain will reflect driver steering angle laminated. After this, the steering angle number device (400) is to determine the final gain using steering torque exerted. The, final steering gain steering torque exerted, steering angle error value, the steering number differential gain, integrated steering number can be calculated by using gain. In the embodiment according to of the existing method of the invention of the present invention Figure 8 compares the path as the path steering angle number represents a steering angle number, before traveling path after treatment for improving steering angle can be know has a stable traveling path. Table 1 below even though the invention further concerns improved steering angle of maximum following error, vehicle center change, tire north pole distance difference exhibits. The proportional gain is variable steering angle number following error by applying this material feeling steering situation when being small, small gain to minimize following emitter is installed gain is applied and the robust number in accordance with the magnets. Table 1 number times herein measure the amount of movement results in generating section chamber vehicle 0. 95M in 0. 52M know improving charge can be reduced to 45%. The present invention refers to the steering angle by the steering system of feeling variable number while maintaining robust against disturbance and spraying vehicle steering angle can be to performing number. Figure 9 shows a configuration of computer system applying the method according to an embodiment of the present invention also steering angle number are disclosed. The reference also 9, computing system (1000) includes a bus (1200) are connected via a includes at least one processor (1100), memory (1300), user interface input device (1400), user interface output device (1500), storage (1600), and network interface (1700) can be a. Processor (1100) central processing unit (CPU) device or memory (1300) and/or storage (1600) for semiconductor device executes processing instructions stored implementation being. Memory (1300) and storage (1600) can be volatile or non-volatile storage media in different types. For example, memory (1300) has a ROM (Read Only Memory) and RAM (Random Access Memory) can be comprising. Thus, the specification disclosure to the association in the embodiment described the step of method or algorithm processor (1100) executed by hardware, software module, or a combination of two 2 can be directly. The software module comprises RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, such as CD-a ROM storage medium (i.e., memory (1300) and/or storage (1600)) residing disapproval. An exemplary storage medium having stored thereon processor (1100) is coupled to the, processor (1100) for reading information from a storage medium can be can be writes information on the storage medium. The other method, storage medium having stored thereon processor (1100) integral with disapproval. An application specific integrated circuit (ASIC) processor and storage medium residing in the disapproval. ASIC disapproval residing in the user terminal. The other method, processor and storage medium resident as discrete components in user terminal for the disapproval. A feature of the present invention sends more description is provided to exemplify the generally described, the present invention if the properties of the present invention is provided to essentially inputted from deviating from a person with skill in the art in various modifications and deformable will. Thus, the present invention in the embodiment of the present invention are to define the disclosure but rather to explain the feature and, in the embodiment of the present invention by not the limited range of such feature. Under the protection range of the present invention must be interpreted by fee so as to range, and the range of the present invention feature in a range equal to all rights will be interpreted. 100: Steering angle sensor 200: Violations of the number difference following position 300: Torque sensor 400: The device number steering angle 410: Steering angle gain variable a judging section 420: Steering angle gain calculation section 430: Steering angle gain adjustment section 440: Steering torque exerted calculation unit 411: Variable speed judging section 412: Maximum gain selecting unit 413: Increased variable speed decision unit 414: Reduced variable speed decision unit 415: Variable speed setting section The present invention relates to an apparatus for controlling a steering angle, a system including the same, and a method thereof. According to an embodiment of the present invention, the apparatus for controlling a steering angle comprises: a steering angle gain variation determination device that determines an increase or a decrease of a steering angle gain variation rate depending on a steering angle error value; a steering angle gain determination device that determines a steering angle gain based on the steering angle gain variation rate; a steering angle gain regulation device that determines a final gain by reflecting a driver intention in a steering angle gain; and a steering torque determination device that determines steering torque by use of the final gain.<br><ul id="reference_numerals"><li>(100) Steering angle sensor</li><li>(200) Lane tracing position controller</li><li>(300) Torque sensor</li><li>(410) Steering angle gain variable determination unit</li><li>(420) Steering angle gain calculation unit</li><li>(430) Steering angle gain adjustment unit</li><li>(440) Steering torque calculation unit</li><li>(AA) Actual steering angle</li><li>(BB) Demand steering angle</li><li>(C1,C2) Steering torque</li><li>(DD) Variable command</li><li>(EE) Variable steering angle gain</li><li>(FF) Final gain</li><li>(GG) Actual steering angle</li><li>(HH) Demand steering angle</li></ul>COPYRIGHT KIPO 2019<br> Steering angle error value according to an increase or decrease variable speed determining steering angle gain (Gain) steering angle gain variable a judging section; said variable speed according to steering angle gain steering angle gain calculating unit for calculating a steering angle; calculating final gain driver steering angle gain will reflect steering angle gain adjustment section; and said steering torque exerted using final gain calculated steering torque exerted calculation unit; the device including a steering angle number. According to Claim 1, said steering angle gain variable determiner determines, said steering angle error value calculated, said predetermined reference value steering angle error value as compared to said steering angle gain variable speed variable speed determining unit for determining an increase or decrease; increased maximum gain when determining maximum gain selecting unit for selecting said steering angle gain variable speed; characterized in that the device including a steering angle number. According to Claim 2, said steering angle gain variable determiner determines, initial gain, said maximum gain, said maximum gain to said initial gain in time reaches the first conductive layer variable for determining the rate increased variable speed decision unit; and said initial gain, said maximum gain, said maximum gain in time reaches said initial gain decrease in the IR energy reduced variable speed variable speed decision unit; characterized in that the device further including a steering angle number. According to Claim 3, said steering angle gain variable determiner determines, whether the maximum value steering torque exerted to the electronic content, said steering torque exerted when it reaches said maximum value number steering angle gain variable speed CD-set an variable speed setting unit characterized the device further including a steering angle number. According to Claim 2, said variable speed determiner determines, by computing a steering angle error value, said steering angle error value is placed turned off and the steering angle gain variable speed increase is below said reference value said steering angle error value said steering angle gain variable speed reduce characterized to determine the steering angle number device. According to Claim 5, said variable speed determiner determines, chamber number steering angle value of a change in the steering angle error value by computing a required steering CW said device characterized in that the steering angle number. According to Claim 1, said steering angle gain regulator is, by adjusting the gain control number 1 driver intervention down when said steering angle gain ratio calculating gain control ratio calculating part number 1; said driver intervention number calculating said number 1 number 2 after recovery of the valve timing of the gain adjustment ratio gain control ratio gain control ratio calculating part number 2; characterized in that the device including a steering angle number. According to Claim 6, said steering angle gain regulator is, said steering angle gain given to driver steering angle gain calculating said number 2 will reflect gain control driver will the feature extracting unit; characterized in that the device further including a steering angle number. According to Claim 8, said steering angle gain regulator is, said driver will reflect said initial gain sums up the final gain calculated steering angle laminated final gain calculation unit further including a steering angle number is characterized device. According to Claim 9, said steering angle gain regulator is, steering angle gain setting maximum and minimum value of said driver will reflect driver will reflect the device further including a steering angle number one steering angle gain number characterized. According to Claim 1, said steering torque control unit, said final steering gain, said steering angle error value, the steering number differential gain, steering number integrated gain by calculating the steering torque exerted by using said device characterized in that the steering angle number. Steering is designed to update chamber number output steering angle a steering angle sensor; calculating a difference following a request for vehicle steering angle difference follow and outputs the number position violations; sensing vehicle torque value output from torque sensor; and said chamber number steering angle value according to said steering angle error value required steering CW laser steering angle adjusting the gain difference device including the following assistance system a steering angle number. According to Claim 12, said steering angle number is the device, said steering angle error value to a preset reference value is below said reducing said steering angle error value to a preset steering angle gain turned off and the increasing difference following assistance system characterized in that said steering angle gain. According to Claim 13, said steering angle number is the device, said steering angle error value according to said steering angle gain variable speed increase or decrease determining steering angle gain variable a judging section; said variable speed according to steering angle gain steering angle gain calculating unit for calculating a steering angle; calculating final gain driver steering angle gain will reflect steering angle gain adjustment section; and said steering torque exerted using final gain calculated steering torque exerted calculation unit; characterized in including a car follow and assistance system. Steering angle error value according to an increase or decrease variable speed determining steering angle gain (Gain); steering angle variable speed according to said steering angle gain calculator includes; said driver steering angle gain will do the final gain calculator includes reflecting; and said steering torque exerted including steering angle number to that final gain using the method. According to Claim 15, said steering angle gain variable speed increase or decrease step of determining, said steering angle error value calculated, said predetermined reference value compared with said steering angle gain steering angle error value determining an increase or decrease variable speed; determining maximum gain pattern being increased when said steering angle gain variable speed; initial gain, said maximum gain, in said initial gain reaches maximum gain to said time determining variable speed the first conductive layer; and said initial gain, said maximum gain, said maximum gain in time reaches said initial gain decrease in the IR energy determining variable speed; the method characterized in including a steering angle number. According to Claim 16, said steering angle gain variable speed increase or decrease step of determining, by the publisher steering torque exerted reaches maximum value, said maximum value steering torque exerted when it reaches said steering angle gain variable speed setting number efficiency; the method characterized in further including a steering angle number. According to Claim 17, said determining an increase or decrease the steering angle gain variable speed, steering angle error value by computing a, said steering angle error value is placed turned off and the steering angle gain variable speed increase is below said reference value said steering angle error value said steering angle gain variable speed reduce characterized to determine the steering angle number method. According to Claim 18, said final gain calculator includes, when said driver intervention by adjusting the gain control number 1 down steering angle gain ratio calculator includes; said driver intervention said number 1 number 2 to that number after recovery of the valve timing of the gain adjustment ratio gain adjustment ratio; said number 2 to said steering angle gain given steering angle gain calculator includes a driver will reflect gain control; and said laminated driver will reflect initial gain sums up the final gain including said steering angle to that characterized the steering angle number method. According to Claim 19, steering torque exerted said calculating step, said final steering gain, said steering angle error value, the steering number differential gain, steering number integrated gain by calculating the steering torque exerted by using said method characterized in that the steering angle number.
