Patent ID: 11872980
Assignee: HYUNDAI MOTOR COMPANY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A method for controlling wheel slip of a vehicle, which has a plurality of driving devices for generating driving force for driving the vehicle, the method comprising:
obtaining, by a controller, equivalent inertia information for driving system of each driving device among the plurality of driving devices in real time, based on operation information of each driving system during traveling of the vehicle, wherein the equivalent inertia information is calculated from an angular acceleration obtained from a speed of the driving system and torque information transferred through the corresponding driving system;
calculating, by the controller, a calibration amount for calibrating a driving force command or a braking force command for each wheel by using the equivalent inertia information for each driving system obtained in real time, wherein the equivalent inertia information for each driving system for calculating the calibration amount includes a real-time equivalent inertia change amount of each driving system, and the calibration amount is calculated by applying a calibration gain to the real-time equivalent inertia change amount;
recognizing, by the controller, a control mode selected, among a performance priority mode and a stability priority mode, by a driver;
calibrating, by the controller, the driving force command or the braking force command for each wheel by using the calibration amount; and
controlling, by the controller, a driving force applied to each wheel according to the calibrated driving force command or controlling a braking force applied to each wheel according to the calibrated braking force command,
wherein the obtaining of the equivalent inertia information, the calculating of the calibration amount, the calibrating of the driving force command or the braking force command, and the controlling of the driving force applied or the braking force applied are performed in a transient section, and
wherein the transient section is a transitional section from a normal traveling state to a state where traction control system operating condition is satisfied and requires traction control system operation,
wherein the vehicle is a front and rear wheel drive vehicle having a front wheel driving device and a rear wheel driving device,
wherein, when an accelerator pedal input value is larger than a first setting value and the performance priority mode has been selected, the controller determines that a front wheel calibration gain for determining the calibration amount of the front wheel driving force command is a value larger than a rear wheel calibration gain for determining the calibration amount of the rear wheel driving force command, and
wherein the controller increases a difference between the front wheel calibration gain and the rear wheel calibration gain as the front wheel and the rear wheel driving force commands increase.