US 12,151,674 B2
Method for controlling driving force of vehicle
Ji Won Oh, Hwaseong-Si (KR); and Jeong Soo Eo, 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 Oct. 6, 2022, as Appl. No. 17/961,414.
Claims priority of application No. 10-2021-0149821 (KR), filed on Nov. 3, 2021.
Prior Publication US 2023/0134424 A1, May 4, 2023
Int. Cl. B60W 30/045 (2012.01)
CPC B60W 30/045 (2013.01) [B60W 2520/18 (2013.01); B60W 2530/10 (2013.01); B60W 2552/40 (2020.02); B60W 2720/406 (2013.01)] 12 Claims
OG exemplary drawing
 
1. A method of controlling a driving force of a vehicle, the method comprising:
determining, by a control unit, a basic torque command for a driving device configured to drive a vehicle, based on vehicle driving information as obtained while the vehicle is traveling;
obtaining, by the control unit, real-time vertical load information of a left wheel and a right wheel of the vehicle while the vehicle is traveling based on information collected from the vehicle while the vehicle is traveling;
determining, by the control unit, final wheel-specific torque commands, based on the basic torque command as determined and the real-time vertical load information as obtained, to be applied to the left wheel and the right wheel, respectively; and
controlling, by the control unit, a torque vectoring apparatus including the driving device so that a predetermined torque considering the real-time vertical load information before a slip is generated is applied, respectively, to the left wheel and the right wheel according to the final wheel-specific torque commands.