US 12,479,315 B2
Method of controlling add-on mobility
Hyuk Joon Kwon, Suwon-si (KR); Buhm Joo Suh, Hwaseong-si (KR); Woul Sun Choi, Hwaseong-si (KR); Seung Wook Lee, Gwangmyeong-si (KR); Tal Chol Kim, Bucheon-si (KR); and Yeong Il Choi, Anyang-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 Apr. 19, 2023, as Appl. No. 18/303,039.
Claims priority of application No. 10-2022-0134243 (KR), filed on Oct. 18, 2022.
Prior Publication US 2024/0123837 A1, Apr. 18, 2024
Int. Cl. B60L 15/20 (2006.01); B60L 7/26 (2006.01)
CPC B60L 15/2045 (2013.01) [B60L 7/26 (2013.01); B60L 2200/28 (2013.01); B60L 2240/423 (2013.01); B60L 2240/547 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling an add-on mobility, the method comprising:
measuring a force in a front-rear direction, the force acting between a main body vehicle and the add-on mobility, wherein the force is measured by a force sensor connecting the main body vehicle and the add-on mobility; and
controlling a driving force and a braking force of the add-on mobility according to a magnitude of the force in the front-rear direction measured by the force sensor, wherein controlling the driving force and the braking force of the add-on mobility comprises controlling a driving force of a motor mounted on the add-on mobility and a mechanical braking force of a braking device, wherein the driving force of the motor and the mechanical braking force are controlled according to a plurality of ranges classified according to the magnitude of the force in the front-rear direction measured by the force sensor, and wherein the plurality of ranges comprise:
a compressive range in which a compressive force in a front-rear direction acts between the main body vehicle and the add-on mobility, wherein the compressive range is divided into three ranges according to a magnitude of the compressive force and classified into a first range having the greatest compressive force, a third range having the smallest compressive force, and a second range between the first range and the third range; and
a tensile range in which a tensile force in the front-rear direction acts between the main body vehicle and the add-on mobility, wherein the tensile range is divided into two ranges according to a magnitude of the tensile force and classified into a fourth range having a tensile force smaller than the third range and a fifth range having a tensile force smaller than the fourth range.