Patent ID: 11904842
Assignee: HYUNDAI MOTOR COMPANY
Field: Transport (Mechanical engineering)
Classification: CPC B  F | IPC B

Claim 13:
14. The method of claim 12, wherein the torque command after correction is determined by Equation E7:

Torque Command after Correction=Basic Torque Command−σ4×{Basic Average Vertical Load−min(Left Wheel Vertical Load, Right Wheel Vertical Load)}−σ5×|ϕ|,   E7)

wherein the basic average vertical load is an average vertical load of left wheels and right wheels in a stopped state of the vehicle based on a flat road, σ4 is a coefficient predetermined by the controller to convert load information into a torque value, σ5 is a coefficient having a value predetermined by the controller, and ϕ is a roll angle out of real-time roll motion information of the vehicle obtained from the information collected by the vehicle.