US 12,083,882 B2
Method for controlling wheel slip 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 Jul. 15, 2022, as Appl. No. 17/866,325.
Claims priority of application No. 10-2021-0120151 (KR), filed on Sep. 9, 2021.
Prior Publication US 2023/0070659 A1, Mar. 9, 2023
Int. Cl. B60K 28/16 (2006.01); B60K 1/00 (2006.01)
CPC B60K 28/16 (2013.01) [B60K 1/00 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method for controlling wheel slip of a vehicle, the method comprising:
obtaining, by a controller, operation state information of a driving system including a drive apparatus configured for driving the vehicle;
determining, by the controller, a speed corresponding to a backlash value between the drive apparatus and a drive wheel of the vehicle based on the obtained operation state information of the driving system;
determining, by the controller, a reference speed of the vehicle for controlling the wheel slip;
determining, by the controller, a control input value for controlling the wheel slip based on a driving system speed included in the obtained operation state information of the driving system, the determined speed corresponding to the backlash value, and the determined reference speed;
using, by the controller, the determined control input value to determine whether the wheel slip occurs;
determining, by the controller, a torque of the drive apparatus from vehicle driving information;
determining, by the controller, a torque correction amount based on the control input value when the controller concludes that the wheel slip has occurred; and
correcting, by the controller, a torque command of the drive apparatus according to the determined torque correction amount.