Patent ID: 9045055
Filing Date: 2015-06-02
Classification: B60K,B60L,B60W,Y02T

Abstract:
1. A method for preventing slip in a wheeled vehicle having two or more driving wheels that are respectively operated with electric motors, the electric motor of each driving wheel of the vehicle comprising a torque limit applicable to limit torque of the corresponding motor, respectively, wherein the method comprises, for each driving wheel: setting an angular acceleration limit for the driving wheel; detecting angular acceleration of the driving wheel continuously; comparing the detected angular acceleration with the angular acceleration limit continuously; if the detected angular acceleration is higher than the angular acceleration limit, reducing the torque limit from its current value until the angular acceleration of the driving wheel is below the angular acceleration limit; increasing the torque limit at a first rate to a value lower than the value from which the torque limit was reduced; and increasing the torque limit at a second rate to the maximum value, the second rate being lower than the first rate.