US 12,227,079 B2
Method of controlling torque of vehicle driving device
Ji Won Oh, Gyeonggi-do (KR); Jeong Soo Eo, Gyeonggi-do (KR); Sung Jae Kim, Gyeonggi-do (KR); and Lee Hyoung Cho, Gyeonggi-do (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Sep. 22, 2021, as Appl. No. 17/481,756.
Claims priority of application No. 10-2020-0189472 (KR), filed on Dec. 31, 2020.
Prior Publication US 2022/0203843 A1, Jun. 30, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B60L 15/20 (2006.01); B60W 50/00 (2006.01); B60W 50/06 (2006.01); H02P 23/00 (2016.01); B60K 31/02 (2006.01)
CPC B60L 15/20 (2013.01) [B60W 50/06 (2013.01); H02P 23/0004 (2013.01); B60K 31/02 (2013.01); B60L 2240/421 (2013.01); B60L 2240/423 (2013.01); B60W 2050/0008 (2013.01); B60W 2510/083 (2013.01); B60W 2710/0672 (2013.01); B60W 2710/083 (2013.01); B60W 2710/085 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling torque of a vehicle driving device, comprising:
estimating, by a controller, speed of an engine or a motor of a vehicle from vehicle driving information collected from the vehicle and calculating speed difference value between actually measured speed of the engine or the motor and the estimated speed of the engine or the motor;
wherein the speed difference is calculated between the actually measured speed of the engine or the motor and the estimated speed of the engine or the motor in which twisting and backlash are removed;
determining, by the controller, a nominal rate limit value according to the vehicle driving information;
determining, by the controller, a required real-time rate correction amount according to the calculated speed difference;
determining, by the controller, a torque command variation based on the determined nominal rate limit value and the determined required real-time rate correction amount; and
after a correction in a previous control period, correcting, by the controller, a torque command in a current control period with the determined torque command variation which then enables another torque command to be determined after the correction in the current control period.