Patent ID: 11951789
Assignee: HL MANDO CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 19:
20. The method of claim 19, wherein in the rear wheel acceleration compensating step based on the vehicle specification, the acceleration value of the rear wheel, which is compensated by the vehicle specification is expressed as in [Equation 6] below and calculated by [Equation 6]

aw,RR=aw,FRTBuffer[kn−Wheelbase]*{vxBuffer[kn]/(vxBuffer[kn−Wheelbase])}*WheelGRatio  [Equation 6]

(aw,RR represents the acceleration value of the rear wheel acquired in the rear wheel acceleration compensating step based on the vehicle specification, aw,FRTBuffer[kn−Wheelbase] represents the acceleration value of the rear wheel acquired in the distance based buffer using step, vxBuffer[kn] represents the vehicle velocity of the front wheel, which is stored in the kn-th cell storing the vehicle velocity at the current location of the front wheel in the vehicle velocity buffer, (vxBuffer[kn−Wheelbase]) represents the vehicle velocity of the front wheel, which is stored in a cell storing the vehicle velocity at a distance (location) acquired by subtracting the distance which is as large as the wheelbase from a kn-th cell storing the vehicle velocity at the current location of the front wheel in the vehicle velocity buffer, and WheelGRatio represents the acceleration size ratio (acceleration constant) of the front wheel and the rear wheel).