US 12,252,130 B2
Method for controlling traveling of vehicle
Ji Won Oh, Hwaseong-Si (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. 27, 2022, as Appl. No. 17/954,170.
Claims priority of application No. 10-2021-0145114 (KR), filed on Oct. 28, 2021.
Prior Publication US 2023/0137189 A1, May 4, 2023
Int. Cl. B60W 10/18 (2012.01); B60W 10/04 (2006.01); B60W 30/18 (2012.01); B60W 30/045 (2012.01)
CPC B60W 30/18172 (2013.01) [B60W 10/04 (2013.01); B60W 10/18 (2013.01); B60W 30/045 (2013.01); B60W 2510/18 (2013.01); B60W 2520/10 (2013.01); B60W 2520/18 (2013.01); B60W 2540/18 (2013.01); B60W 2552/40 (2020.02); B60W 2710/18 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of controlling traveling of a vehicle, the method comprising:
determining, by a control unit, a basic torque command based on vehicle operating information collected in real time during traveling of the vehicle;
obtaining, by the control unit, vertical load information of a left wheel and a right wheel of the vehicle in real time during traveling of the vehicle based on information collected in the vehicle;
determining, by the control unit, a partial braking amount based on the determined real-time basic torque command and the obtained real-time vertical load information;
performing, by the control unit, a partial braking control controlled by an inner wheel braking device so that a braking force corresponding to the partial braking amount is applied to a turning inner wheel among the left wheel and the right wheel; and
determining, by the control unit, a partial braking threshold torque value based on the obtained real-time vertical load information; and
comparing, by the control unit, the determined real-time basic torque command with the determined partial braking threshold torque value,
wherein when the basic torque command exceeds the partial braking threshold torque value, the determining of the partial braking amount and the performing of the partial braking control are performed by the control unit.