Method for controlling rear wheel steering angle of a vehicular 4-wheel steering system
 Disclosed is a method for controlling a rear wheel angle of a four-wheel steering system for a vehicle, including the steps of: setting a control cycle of an actuator; dividing the control cycle into an accelerating section, a uniform velocity section, and a reduction section according to a rotating velocity of the actuator; integrating each section according to the rotating velocity of the actuator; calculating a desired rear wheel angle according to a practical rear wheel angle measured under each integral equation of each section; and executing, during the control cycle, a compensating control with respect to an error value calculated by comparing the practical rear wheel angle and the desired rear wheel angle with each other. 
Kia Motors Corporation
B
B62D
inventional
Un-Sung Yon-Ku
Chang Jung