Patent ID: 11904842
Assignee: KIA CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B  F | IPC B

Claim 8:
9. The method of claim 1, wherein, in the determining the torque upper limit, the torque upper limit is determined by either one of Equation E5 and Equation E5′:

Torque Upper Limit=σ0×σ1×min(Left Wheel Vertical Load, Right Wheel Vertical Load)−σ3×sign(ϕ)×ρ; and   E5)

Torque Upper Limit=min{(σ0×σ1×Left Wheel Vertical Load−σ3×ρ), (σ0×σ1×Right Wheel vertical load+σ3×ρ)},   E5′)

wherein σ0 is a coefficient predetermined by the controller to convert load information into a torque value, σ1 is a parameter value determined by the controller to correspond to a maximum coefficient of friction of a road on which the vehicle is driving, σ3 is a coefficient having a value predetermined by the controller, and ϕ and ρ are a roll angle and a roll angle change rate out of real-time roll motion information of the vehicle obtained from the information collected by the vehicle.