Patent ID: 11858345
Assignee: KIA CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 6:
7. The method of claim 1, wherein, in the determining the threshold engagement torque, the threshold engagement torque is determined by one of Equations E3 and E3′ below

Threshold engagement torque=σ0×σ1×min (vertical load on left wheel,vertical load on right wheel)−σ2×|ϕ|−σ3×sign(ϕ)×p,  E3

Threshold engagement torque=min {(σ0×σ1×vertical load on left wheel−σ2×ϕ−σ3×p),(σ0×σ1×vertical load on right wheel+σ2×ϕ+σ3×p)}  E3′

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, σ2 and σ3 are coefficients of values 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.