US 12,115,861 B2
Method and system for controlling anti-jerk of vehicle
Woo Cheol Cho, Daejeon (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. 19, 2022, as Appl. No. 17/867,977.
Claims priority of application No. 10-2022-0019279 (KR), filed on Feb. 15, 2022.
Prior Publication US 2023/0256836 A1, Aug. 17, 2023
Int. Cl. B60L 15/20 (2006.01); B60W 10/08 (2006.01)
CPC B60L 15/2036 (2013.01) [B60W 10/08 (2013.01); B60W 2710/026 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A method of controlling anti-jerk of a vehicle, the method comprising:
obtaining, by a controller, a motor speed of the vehicle by use of a sensor, wherein the motor speed includes a wheel slip component and a vibration component;
determining, by the controller, a first motor speed which is obtained by subtracting the vibration component from the motor speed;
determining, by the controller, a correction factor based on a wheel slip amount of the vehicle;
determining, by the controller, a corrected model speed from a predetermined model speed for a motor of the vehicle based on the correction factor and the first motor speed, wherein the corrected model speed includes the wheel slip component;
determining, by the controller, the vibration component based on the motor speed and the corrected model speed, and generating, by the controller, an anti-jerk torque based on the determined vibration component; and
generating, by the controller, a final output torque of the motor based on a driver demand torque of the vehicle and the generated anti-jerk torque.