| CPC B60W 30/18172 (2013.01) [B60T 7/12 (2013.01); B60T 8/175 (2013.01); B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 2520/12 (2013.01); B60W 2520/266 (2013.01); B60W 2520/28 (2013.01); B60W 2556/10 (2020.02); B60W 2710/18 (2013.01)] | 16 Claims |
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1. A wheel slip control method of a vehicle, the method comprising:
estimating, by a control unit, equivalent inertia information of a driving system based on operation information of the driving system while a vehicle travels;
determining, by the control unit, whether a slip of a drive wheel occurs from the estimated equivalent inertia information of the driving system;
responsive to a determination that the slip of the drive wheel occurs, determining, by the control unit, whether the drive wheel is in an uneven wheel slip state where the slip occurs in only one of a left wheel and a right wheel of the drive wheel from a left wheel speed and a right wheel speed detected by a sensor;
responsive to a determination that the vehicle wheel is in the uneven wheel slip state, controlling, by the control unit, an operation of a braking device such that a braking force is applied to the vehicle wheel in which the slip occurs, wherein the equivalent inertia information of the driving system comprises an equivalent inertia value of the driving system calculated by a value obtained by dividing the torque instruction of a previous control cycle for a driving device configured to drive the vehicle by an angular acceleration of the driving system obtained by the rotating speed of the driving system, wherein a value of the equivalent inertia information is an equivalent inertia change amount which is a difference between the equivalent inertia of the driving system obtained in real time and basic equivalent inertia having a predetermined value;
calculating, by the control unit, a lateral load movement amount of the vehicle from current vehicle traveling information collected by the vehicle;
comparing, by the control unit, the calculated lateral load movement amount of the vehicle with a first movement amount threshold;
determining, by the control unit, an uneven load of a predetermined level or more occurs in the vehicle while the vehicle turns when the calculated lateral load movement amount of the vehicle is larger than the first movement amount threshold; and
controlling, by the control unit, an operation of the braking device such that the braking force is applied to a vehicle wheel corresponding to an inner wheel upon turning,
wherein, if the calculated lateral load movement amount of the vehicle is equal to or less than the first movement amount threshold, the control unit is configured to perform:
estimating equivalent inertia information of the driving system based on operation information of the driving system while the vehicle travels;
determining whether the slip of the drive wheel occurs from the estimated equivalent inertia information of the driving system;
responsive to a determination that the slip of the drive wheel occurs, determining whether the drive wheel is in an uneven wheel slip state where the slip occurs in only one of the left wheel and the right wheel of the drive wheel from the left wheel speed and the right wheel speed detected by the sensor; and
responsive to a determination that the vehicle wheel is in the uneven wheel slip state, controlling the operation of a braking device such that a braking force is applied to the vehicle wheel in which the slip occurs.
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