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

Claim 7:
8. The method of claim 1, wherein, in the determining the torque upper limit, the torque upper limit is determined by either one of Equation E4 and Equation E4′:

Torque Upper Limit=σ0×σ1×min(Left Wheel Vertical Load, Right Wheel Vertical Load)−σ2×|ϕ|; and   E4)

Torque Upper Limit=min{(σ0×σ1×Left Wheel Vertical Load−σ2×ϕ), (σ0×σ1×Right Wheel Vertical Load+σ2×ϕ)},   E4′)

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, σ2 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.