US 11,787,466 B2
Vehicle and method of controlling turning thereof
Sang Joon Kim, Seoul (KR); Young Eun Kim, Uiwang-si (KR); Hui Un Son, Suwon-si (KR); Jea Mun Lee, Seoul (KR); and Sung Hoon Yu, Hwaseong-si (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Motors Corporation, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA MOTORS CORPORATION, Seoul (KR)
Filed on Nov. 18, 2020, as Appl. No. 16/951,839.
Claims priority of application No. 10-2020-0074102 (KR), filed on Jun. 18, 2020.
Prior Publication US 2021/0394823 A1, Dec. 23, 2021
Int. Cl. B62D 6/00 (2006.01); B62D 5/04 (2006.01); B60W 30/045 (2012.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01)
CPC B62D 6/00 (2013.01) [B60W 30/045 (2013.01); B60W 30/18172 (2013.01); B62D 5/0463 (2013.01); B60W 2050/0031 (2013.01); B60W 2520/125 (2013.01); B60W 2720/30 (2013.01); B60Y 2300/045 (2013.01); B60Y 2300/18175 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle, the method being performed by the vehicle during operation of the vehicle and comprising:
determining a demanded torque based on a manipulation amount of an accelerator pedal or a brake pedal of the vehicle, the demanded torque being determined in response to a driver manipulating a steering wheel for turning the vehicle;
determining a first compensation torque based on a lateral acceleration rate of change during turning, the lateral acceleration rate of change obtained by use of a lateral acceleration sensor;
determining a first compensated demanded torque by applying the first compensation torque to the demanded torque;
determining a second compensation torque for preventing wheel slip of a driving wheel based on the first compensated demanded torque and an actual vehicle behavior, the actual vehicle behavior including an actual speed of the driving wheel of the vehicle;
determining a second compensated demanded torque by applying the second compensation torque to the first compensated demanded torque; and
controlling a driving source of the vehicle based on the second compensated demanded torque while turning the vehicle.