Patent ID: 11858345
Assignee: HYUNDAI MOTOR COMPANY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 18:
19. The apparatus of claim 10, wherein, in the determining the threshold engagement torque, the controller is configured to determine the threshold engagement torque by use of one of Equations E5 and E5′ below

Threshold engagement torque=σ0×σ1×min (vertical load on left wheel,vertical load on right wheel)−σ3×sign(ϕ)×p,  E5

Threshold engagement torque=min {(σ0×σ1×vertical load on left wheel−σ3×p),(σ0×σ1×vertical load on right wheel+σ3×p)}  E5′

wherein σ0 is a coefficient preset in the controller to convert load information into a torque value, σ1 is a parameter value determined by the controller according to a maximum coefficient of friction of a road surface on a road on which the vehicle is traveling, σ3 is a coefficient of a value preset in the controller, and ϕ and p are roll angle and roll angle change rate, which are real-time roll motion information on the vehicle obtained from the vehicle operation information collected in the vehicle, respectively.