US 11,987,230 B2
Vehicle including electric motor and method of controlling the same
Hui Un Son, Suwon-si (KR); Joo Young Kim, Hwaseong-si (KR); Sang Joon Kim, Seoul (KR); Jea Mun Lee, Seoul (KR); Sung Hoon Yu, Hwaseong-si (KR); Joon Young Park, Seoul (KR); and Kyu Hwan Jo, Yongin-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 Jul. 13, 2021, as Appl. No. 17/373,922.
Claims priority of application No. 10-2020-0107878 (KR), filed on Aug. 26, 2020.
Prior Publication US 2022/0063589 A1, Mar. 3, 2022
Int. Cl. B60W 20/00 (2016.01); B60W 20/20 (2016.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01)
CPC B60W 20/20 (2013.01) [B60W 30/18027 (2013.01); B60W 30/18072 (2013.01); B60W 50/14 (2013.01); B60W 60/001 (2020.02); B60W 2510/244 (2013.01); B60W 2520/10 (2013.01); B60W 2520/16 (2013.01); B60W 2540/10 (2013.01); B60W 2540/215 (2020.02); B60W 2552/15 (2020.02); B60W 2555/60 (2020.02); B60W 2710/083 (2013.01); B60W 2720/106 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle comprising an electric motor, the method comprising:
determining, by a controller, a pitching motion mode, wherein the pitching motion mode includes at least one of an acceleration guidance mode or a deceleration guidance mode;
calculating, by the controller, a first torque value for providing a pitching motion based on driving state information including a vehicle speed of the vehicle, a driving mode of the vehicle, and an environment of a driving road on which the vehicle travels, wherein the first torque value is calculated to i) provide the pitching motion in a direction in which the vehicle is accelerated in the acceleration guidance mode and ii) provide the pitching motion in a direction in which the vehicle is decelerated in the deceleration guidance mode;
calculating, by the controller, a second torque value based on a request of a driver of the vehicle; and
calculating, by the controller, a final torque value for controlling the electric motor based on the first torque value and the second torque value.