Patent ID: 11884257
Assignee: KIA CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 5:
6. The method of claim 1,
wherein the filter is a filter configured for removing the natural frequency component of the vehicle suspension pitch motion, and
wherein the determining of the final front wheel driving force command and the final rear wheel driving force command includes:
distributing the required driving force command to a front wheel driving force command and a rear wheel driving force command;
applying the filter to the distributed front wheel driving force command to determine a front wheel driving force command after application of the filter as the final front wheel driving force command;
determining a difference between the distributed front wheel driving force command and the front wheel driving force command after application of the filter; and
performing correction for compensating the distributed rear wheel driving force command by the determined difference in command to determine a corrected rear wheel driving force command as the final rear wheel driving force command.