US 12,403,775 B2
Method and motor controller for operating a drive motor of a vehicle
Frank Leibeling, Moeglingen (DE); Julien Kuehl, Freiberg Am Neckar (DE); Michael Erden, Bietigheim-Bissingen (DE); Stefan Koschlig, Loechgau (DE); Tina Geiger, Grossbottwar (DE); and Lea Riegger, Untergruppenbach (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 18/257,755
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Nov. 25, 2021, PCT No. PCT/EP2021/082915
§ 371(c)(1), (2) Date Jun. 15, 2023,
PCT Pub. No. WO2022/174949, PCT Pub. Date Aug. 25, 2022.
Claims priority of application No. 10 2021 201 534.4 (DE), filed on Feb. 17, 2021.
Prior Publication US 2024/0140206 A1, May 2, 2024
Int. Cl. B60L 15/20 (2006.01); B60L 3/10 (2006.01)
CPC B60L 15/20 (2013.01) [B60L 2240/421 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A method for operating a drive motor coupled to at least one wheel of a vehicle via a drive train, the method comprising:
actuating the drive motor using a dynamic model of the drive train, wherein the model maps a relationship between a drive torque transmitted via the drive train and a deformation of the drive train, wherein, as the deformation, the model maps a transmission backlash of the drive train as a function of the drive torque, wherein the drive motor is actuated at a zero crossing of the drive torque taking into account the transmission backlash.