US 12,441,197 B2
System for controlling regenerative braking torque of eco-friendly vehicle and method of controlling same
Jin Yong Kim, Daegu (KR); Hyun Seok Jang, Daegu (KR); and Chang Eun Na, Gyeonggi-do (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 Dec. 10, 2022, as Appl. No. 18/078,951.
Claims priority of application No. 10-2022-0062549 (KR), filed on May 23, 2022.
Prior Publication US 2023/0398876 A1, Dec. 14, 2023
Int. Cl. B60L 7/18 (2006.01)
CPC B60L 7/18 (2013.01) [B60L 2240/461 (2013.01); B60L 2240/465 (2013.01); B60L 2240/64 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A system for controlling regenerative braking torque of s eco-friendly vehicle, the system comprising:
a vehicle controller including at least one processor that comprises:
a wheel dip ratio calculator configured to calculate left and right wheel dip ratios based on a wheel speed of front wheels and a wheel speed of rear wheels;
a slip control entrance determiner configured to determine whether to enter low-friction slip control based on the left and right wheel slip ratios calculated by the wheel dip ratio calculator;
a wheel speed compensator configured to create a wheel speed of rear wheels that is equal to a wheel speed of front wheel by:
calculating a ratio between a wheel speed of the front wheels and a wheel speed of the rear wheels; and
multiplying the calculated ratio by the wheel speed of the rear wheels; and
a Proportional-Integral (PI) controller configured to determine target regenerative braking torque of a motor as a level at which a wheel slip ratio is a target wheel slip ratio to perform low-friction slip control during coasting; and
a moor controller configured to control regenerative braking torque of the motor based on a target regenerative braking torque instruction value determined for low-friction slip control of the PI controller.