Conventional EPS systems are operated by one type of steering tuning map set by steering test drivers before releasing to customers. That is, steering feeling can't change by other conditions such as road condions(low mu, high mu, unpaved roads) or some specific driving condtions(emergency braking/EPS fail modes/full gasing start). Those conditiions can't afford the drivers consistent steering feel and vehicle driving. This paper approached the techonology detecting those conditions by using vehicle sensors such as wheel speed/vehicle speed/steering angle/steering torque/steering speed and so on. After detecting those conditions and judging which one is the best steering feel and safe vehicle driving, EPS system automatically can be changed with the steering friction level and selection of steering opitmized mapping on several conditions. I believe that this technology can afford the customer "Joy of driving and fun to drive".