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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.