# Patent

## Title
Method for monitoring torque in hybrid electric vehicle

## Abstract

A method for monitoring a torque in a hybrid electric vehicle includes calculating an output torque of a motor based on a discharging power of a high voltage battery, a consumption power of a plurality of electric loads, and a motor speed. A first difference value between a motor torque command and the calculated output torque of the motor is calculated. The first difference value is compared with a first reference value. When the first difference value is larger than the first reference value, the hybrid electric vehicle is entered in a fail safe mode.

## Background
CROSS-REFERENCE TO RELATED APPLICATION
This application claims the benefit of priority to Korean Patent Application No. 10-2013-0158407 filed in the Korean Intellectual Property Office on Dec. 18, 2013, the entire contents of which are incorporated herein by reference.
TECHNICAL FIELD
The present disclosure relates to a hybrid electric vehicle, and more particularly, to a method for monitoring a torque in a hybrid electric vehicle.
BACKGROUND
As is generally known, a hybrid electric vehicle uses an internal combustion engine and a battery power source together. That is, the hybrid electric vehicle efficiently combines and uses power from the internal combustion engine and power of a motor.
The hybrid electric vehicle generally includes the engine, the motor, an engine clutch controlling the power between the engine and the motor, a transmission, a differential gear device, a high voltage battery, an integrated starter & generator (ISG) starting the engine or generating power by an output of the engine, and wheels.
Further, the hybrid electric vehicle may include a hybrid control unit (HCU) controlling the entire operation of the hybrid electric vehicle, an engine control unit (ECU) controlling an operation of the engine, a motor control unit (MCU) controlling an operation of the motor, a transmission control unit (TCU) controlling an operation of the transmission, and a battery control unit (BCU) controlling and managing the high voltage battery.
The engine control unit may be called an engine management system (EMS). The battery control unit may be called a battery management system (BMS). The integrated starter & generator may be called a hybrid starter & generator (HSG).
The hybrid electric vehicle may travel in a driving mode, such as an electric vehicle (EV) mode using only the power of the motor. A hybrid electric vehicle (HEV) mode uses rotation force of the engine as the main power and rotation force of the motor as auxiliary power by engaging or releasing the engine clutch according to acceleration and deceleration intention of a driver depending on an operation of an accelerator pedal and a brake pedal, a vehicle speed, and a state of charge of the battery. A regenerative braking mode collects braking and inertial energy through the power generation of the motor during driving by braking or inertia of the vehicle to charge the collected energy in the high voltage battery.
When the hybrid electric vehicle converts the EV mode into the HEV mode, the engine clutch is engaged after an engine speed and a motor speed synchronize with each other, and as a result, a torque change is not generated during a power transferring process between the engine and the motor which are different power sources to secure drivability.
As such, the hybrid electric vehicle uses both mechanical energy of the engine and electrical energy of the high voltage battery, and uses an optimal operation area of the engine and the motor and collects the energy to the motor during braking, and as a result, fuel efficiency may be improved, and energy may be efficiently used.
In order to drive in a fail safe mode of the hybrid electric vehicle, it is required to determine whether the engine follows an engine torque command or the motor follows a motor torque command. To this end, it is required to know a torque and a speed of the engine and a torque and a speed of the motor.
In the hybrid electric vehicle, since controlling the torque acts as an important factor for improving drivability, a research for the torque control has been conducted.
In general, an engine speed sensor measuring the engine speed and a motor speed sensor measuring the motor speed are mounted in the hybrid electric vehicle, but a torque sensor measuring the engine torque and a torque sensor measuring the motor torque are not installed due to a problem such as costs. Accordingly, in the related art, the engine torque is predicted based on air flowing into the engine and a fuel amount, and the motor torque is predicted based on a voltage and a current input to the motor to control the vehicle according to a prediction value, but there is a problem in that reliability deteriorates.
The above information disclosed in this Background section is only for enhancement of understanding of the background of the invention, and therefore, it may contain information that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
SUMMARY
The present disclosure has been made in an effort to provide a method for monitoring torque of a hybrid electric vehicle having advantages of controlling driving in a fail safe mode by monitoring each torque of an engine and a motor without an additional torque sensor, or correcting an engine torque map and a motor torque map by using a monitoring value as a learning value.
According to an exemplary embodiment of the present disclosure, a method for monitoring a torque in a hybrid electric vehicle includes calculating an output torque of a motor based on a discharging power of a high voltage battery, a consumption power of a plurality of electric loads, and a motor speed. A first difference value between a motor torque command and the calculated output torque of the motor is calculated. The first difference value is compared with a first reference value. When the first difference value is larger than the first reference value, the hybrid electric vehicle is entered in a fail safe mode.
The method may further include storing the first difference value when the first difference value is smaller than or equal to the first reference value. An average of a set number of stored first difference values is calculated. The average of the first difference values is compared with a second reference value. A motor torque command map is corrected when the average of the first difference values is larger than the second reference value.
The method may further include correcting a motor torque map when the average of the first difference values is larger than the second reference value.
The method may further include calculating an output torque of an engine based on the calculated output torque of the motor when the average of the first difference values is smaller than or equal to the second reference value. A second difference value between an engine torque command and the calculated output torque of the engine is calculated. The second difference value is compared with a third reference value. When the second difference value is larger than the third reference value, the hybrid electric vehicle is entered in the fail safe mode.
The step of calculating the output torque of the engine may include controlling the motor torque command to follow a negative value of the engine torque command while the motor and the engine synchronize with each other. An absolute value of the calculated output torque of the motor is determined as the output torque of the engine when the motor speed and an engine speed converge on a uniform value.
The method may further include storing the second difference value when the second difference value is smaller than or equal to the third reference value. An average of a set number of stored second difference values is calculated. An average of the second difference values is compared with a fourth reference value. The engine torque command map is corrected when the average of the second difference values is larger than the fourth reference value.
The torque monitoring method may further include correcting an engine torque map when the average of the second difference values is larger than the fourth reference value.
The output torque of the motor may be determined by a value calculated from Equation of




  
    T
    
      Mot
      ⁢
      _
      ⁢
      Calc
    
  
  =
  
    
      
        
          P
          Batt
        
        -
        
          P
          Load
        
      
      
        ω
        Mot
      
    
    ×
    
      μ
      Mot
    
    ×
    
      
        μ
        Inverter
      
      .
    
  




Wherein, PBatt is the discharging power of the high voltage battery, PLoad is the consumption power of the plurality of electric loads, ωMot is the speed of the motor, μMot is a discharging efficiency of the motor, and μInverter is a discharging efficiency of an inverter.

As described above, according to the exemplary embodiment of the present disclosure, it is possible to monitor an engine torque and a motor torque without an additional torque sensor and reduce cost.
Further, it is possible to precisely control the engine and the motor by learning the engine torque and the motor torque to correct an engine torque map and a motor torque map.



BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram schematically illustrating a configuration of a hybrid electric vehicle according to an exemplary embodiment of the present disclosure.
FIG. 2 is a block diagram of a torque monitoring system in a hybrid electric vehicle according to an exemplary embodiment of the present disclosure.
FIG. 3 is a flowchart of a method for monitoring a torque in a hybrid electric vehicle according to an exemplary embodiment of the present disclosure.
FIG. 4 is a schematic diagram illustrating a data structure of a memory of FIG. 2.



DETAILED DESCRIPTION OF THE EMBODIMENTS
The present disclosure will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present disclosure.
FIG. 1 is a block diagram schematically illustrating a configuration of a hybrid electric vehicle according to an exemplary embodiment of the present disclosure.
As illustrated in FIG. 1, a hybrid electric vehicle according to an exemplary embodiment of the present invention includes an engine 10, a motor 20, an engine clutch 30 controlling power between the engine 10 and the motor 20, a transmission 40, a differential gear device 50, a high voltage battery 60, an integrated starter & generator (ISG) 70 starting the engine 10 or generating power by an output of the engine, and a wheel 80.
Further, the hybrid electric vehicle according to an exemplary embodiment of the present invention includes a hybrid control unit (HCU) 200 controlling the entire operation of the hybrid electric vehicle, an engine control unit (ECU) 110 controlling an operation of the engine 10, a motor control unit (MCU) 120 controlling an operation of the motor 20, a transmission control unit (TCU) 140 controlling an operation of the transmission 40, and a battery control unit (BCU) controlling and managing the high voltage battery 60.
Communication between the HCU 200, the ECU 110, the MCU 120, the TCU 140, and the BCU 160 may be implemented by a controller area network (CAN).
FIG. 2 is a block diagram of a torque monitoring system in a hybrid electric vehicle according to an exemplary embodiment of the present disclosure.
Referring to FIG. 2, the torque monitoring system in the hybrid electric vehicle according to an exemplary embodiment of the present disclosure calculates an output torque of the motor and/or an output torque of the engine, compares the output torques with a motor torque command and/or an engine torque command corresponding thereto, and controls driving in a fail safe mode or correcting a motor torque map and/or an engine torque map.
The torque monitoring system in the hybrid electric vehicle according to an exemplary embodiment of the present disclosure includes a hybrid control unit (HCU) 200, an engine control unit (ECU) 110, and a motor control unit (MCU) 120. The torque monitoring system may further include a battery control unit (BCU) 160, a low voltage DC-DC converter (LDC) 170, a full automatic temperature controller (FATC) 180, an oil pump unit (OPU) 190, and the like.
The ECU 110 controls an output torque of the engine 10 according to an engine torque command applied from the HCU 200. The ECU 110 includes an engine torque map, and an engine target torque corresponding to the engine torque command is stored in the engine torque map.
The MCU 120 controls an output torque of the motor 20 according to a motor torque command applied from the HCU 200. The MCU 120 includes a motor torque map, and a motor target torque corresponding to the motor torque command is stored in the motor torque map. The MCU 120 includes an inverter configured by a plurality of power switches, and the power switches may be configured by any one of an insulated gate bipolar transistor (IGBT), an MOSFET, and a transistor.
The BCU 160 detects an output voltage and an output current of the high voltage battery 60 to transfer signals corresponding to the output voltage and the output current to the HCU 200.
The LDC 170 converts a DC high voltage supplied from the high voltage battery 60 into a DC low voltage to supply the converted DC low voltage to a plurality of electric loads using the DC low voltage as operation power. The LDC 170 detects an input voltage and an input current of the plurality of electric loads using the DC low voltage to transfer signals corresponding to the input voltage and the input current to the HCU 200. The HCU 200 may calculate a consumption power consumed in the plurality of electric loads using the DC low voltage.
The FATC 180 controls driving of an air conditioning device. The FATC 180 detects an input voltage and an input current of the air conditioning device to transfer signals corresponding to the input voltage and the input current to the HCU 200.
The OPU 190 is connected with the TCU 140, and controls driving of an electric oil pump (EOP) (not illustrated) according to information on a state of the transmission 40 received from the TCU 140. The OPU 190 detects an input voltage and an input current of the EOP to transfer signals corresponding to the input voltage and the input current to the HCU 200.
In FIG. 2, as a control unit detecting the consumption power of the plurality of electric loads, only the LDC 170, the FATC 180, and the OPU 190 are illustrated, but the control unit is not limited thereto.
The HCU 200 integrally controls the plurality of control units according to a driving requirement of the driver and a vehicle state to control the output torque of the engine 10 and the output torque of the motor 20, and controls the engine clutch 30 to control driving in an electric vehicle (EV) mode, a hybrid electric vehicle (HEV) mode, and a regenerative braking mode.
The HCU 200 may be implemented by at least one microprocessor operating by a set program, and the program may include a series of commands for executing each step included in a method for monitoring a torque according to an exemplary embodiment of the present disclosure to be described below.
However, the scope of the present disclosure is not necessarily limited thereto. Various modifications different from the configuration of the exemplary embodiment may be included within the scope of the present disclosure. For example, in the method for monitoring the torque according to the exemplary embodiment of the present disclosure to be described below, some processes may be performed by the HCU 200, some other processes may be performed by the ECU 110, and other processes may be performed by the MCU 120.
That is, the ECU 110, the MCU 120, the TCU 140, the BCU 160, the LDC 170, the FATC 180, the OPU 190, and the HCU 200 are separated according to an operational function thereof, but one control unit may manage and control an operation of all constituent elements.
The HCU 200 may include a motor torque calculator 210, an engine torque calculator 220, a memory 230, and a torque command compensator 240.
The motor torque calculator 210 calculates the output torque of the motor 20 based on a discharging power of the high voltage battery 60 and the consumption power of the plurality of electric loads.
The output torque of the motor 20 may be determined by a value calculated by the following Equation.




  
    T
    
      Mot
      ⁢
      _
      ⁢
      Calc
    
  
  =
  
    
      
        
          P
          Batt
        
        -
        
          P
          Load
        
      
      
        ω
        Mot
      
    
    ×
    
      μ
      Mot
    
    ×
    
      μ
      Inverter
    
  




Where, PBatt is the discharging power of the high voltage battery 60, PLoad is the consumption power of the plurality of electric loads, ωMot is a speed of the motor 20, μMot is a discharging efficiency of the motor 20, and μInverter is a discharging efficiency of the inverter.
The discharging power PBatt of the high voltage battery may be calculated by multiplying an output voltage Vout_batt and an output current Iout_batt of the high voltage battery. The consumption power PLoad of the plurality of electric loads may be calculated by adding a consumption power PLDC of the LDC 170 consumed in the plurality of electric loads using the DC low voltage, a consumption power PFATC of the FATC 180 consumed in the air conditioning device, and a consumption power PEOP of the OPU 190 consumed in the EOP.
In this case, the motor torque calculator 210 may not calculate the output torque of the motor 20 in a transient state where the speed of the motor 20 is changed by considering accuracy, but may calculate the output torque of the motor 20 when the speed of the motor 20 is maintained for a set period of time.
The engine torque calculator 220 calculates the output torque of the engine 10 based on the calculated output torque of the motor 20. A process of calculating the output torque of the engine will be described below with reference to FIG. 3.
Referring to FIG. 4, the memory 230 includes a first memory 230a as a non-volatile memory, a motor torque command map 230b, a second memory 230c, and an engine torque command map 230d. The first memory 230a and the second memory 230c will be described below with reference to FIGS. 3 and 4.
A motor torque command corresponding to a motor target torque is stored in the motor torque command map 230b. An engine torque command corresponding to an engine target torque is stored in the engine torque command map 230d. 
When the torque command compensator 240 determines that compensation of the motor torque command and/or the engine torque command is necessary, by learning the motor output torque and/or the engine output torque, the torque command compensator 240 corrects the motor torque command map 230b and/or the engine torque command map 230d. In this case, the torque command compensator 240 may correct the motor torque map stored in the MCU 120 and/or the engine torque map stored in the ECU 110.
Hereinafter, a method for monitoring a torque in the hybrid electric vehicle will be described in detail with reference to FIGS. 3 and 4.
FIG. 3 is a flowchart of a method for monitoring a torque in a hybrid electric vehicle according to an exemplary embodiment of the present disclosure. FIG. 4 is a schematic diagram illustrating a data structure of a memory of FIG. 2.
Referring to FIG. 3, when the BCU 160 transfers the output voltage Vout_batt and the output current Iout_batt of the high voltage battery 60 to the HCU 200, the HCU 200 calculates the discharging power PBatt of the high voltage battery (S100). The discharging power PBatt of the high voltage battery may be calculated by multiplying the output voltage Vout_batt and the output current Iout_batt of the high voltage battery 60.
The HCU 200 calculates a consumption power PLoad of a plurality of electric loads (S110). The consumption power PLoad of the plurality of electric loads may be calculated by adding a consumption power PLDC of the LDC 170 consumed in the plurality of electric loads using the DC low voltage, a consumption power PFATC of the FATC 180 consumed in the air conditioning device, and a consumption power PEOP of the OPU 190 consumed in the EOP.
The HCU 200 calculates a difference between the discharging power PBatt of the high voltage battery and the consumption power PLoad of the plurality of electric loads (S120).
Thereafter, the HCU 200 calculates an output torque of the motor 20 (S130). The output torque TMot_calc of the motor 20 may be determined by the following Equation.




  
    T
    
      Mot
      ⁢
      _
      ⁢
      Calc
    
  
  =
  
    
      
        
          P
          Batt
        
        -
        
          P
          Load
        
      
      
        ω
        Mot
      
    
    ×
    
      μ
      Mot
    
    ×
    
      μ
      Inverter
    
  




Where, PBatt is the discharging power of the high voltage battery 60, PLoad is the consumption power of the plurality of electric loads, ωMot is the speed of the motor 20, αMot is the discharging efficiency of the motor 20, and μInverter is the discharging efficiency of the inverter.
The HCU 200 calculates a first difference value TMot_diff between a motor torque command TMot_com and the calculated output torque TMot_calc of the motor (S140).
The HCU 200 compares the first difference value TMot_diff with a first reference value Tref1 (S150). The first reference value Tref1 may be determined through an experiment by those skilled in the art.
In step S150, when the first difference value TMot_diff is larger than the first reference value Tref1, the HCU 200 enters in a fail safe mode to control the driving (S300).
In step S150, when the first difference value TMot_diff is smaller than or equal to the first reference value Tref1, the HCU 200 stores the motor torque command TMot_com, the calculated output torque TMot_calc of the motor, and the first difference value TMot_diff (S160).
As illustrated in FIG. 4, the first memory 230a includes n number of cells. In each cell, the motor torque command TMot_com, the calculated output torque TMot_calc of the motor, and the first difference value TMot_diff are stored. That is, in an i-th cell, an i-th motor torque command TMot_com_i, an i-th calculated output torque TMot_calc_i of the motor, and an i-th first difference value TMot_diff_i are stored. When an output torque TMot_calc_1 of a new motor is calculated, the i-th calculated output torque TMot_calc_i of the motor is newly stored as an i+1-th calculated output torque of the motor, and a previous n-th calculated output torque TMot_calc_n of the motor is deleted. That is, the first memory 230a stores only the last n calculated output torques of the motor 20. The motor torque command and the first difference value are also stored in the same way.
The HCU 200 calculates an average TMot_diff_avg of n first difference values (S170).
The HCU 200 compares the average TMot_diff_avg of the first difference values with a second reference value Tref2 (S180). The second reference value Tref2 may be determined through an experiment by those skilled in the art.
In step S180, when the average TMot_diff_avg of the first difference values is larger than the second reference value Tref2, the HCU 200 corrects the motor torque command map 230b based on the average TMot_diff_avg of the first difference values (S190). In this case, the HCU 200 may correct the motor torque map stored in the MCU 120. The MCU 120 may control the motor 20 according to the corrected motor torque map.
Accordingly, by learning the output torque of the motor having a characteristic deviation according to deterioration of the hybrid electric vehicle, the motor may be more precisely controlled.
In step S180, when the average TMot_diff_avg of the first difference values is smaller than or equal to the second reference value Tref2, the HCU 200 determines that the motor 200 is driven normally, and monitors the output torque of the engine 10.
The HCU 200 applies an engine torque command TEng_com to be monitored to the ECU 110 while the motor 20 and the engine 10 synchronize with each other (for example, while the vehicle is in a P stage or an N stage, and the engine clutch 30 is engaged) (S200). When the vehicle is in the P stage or the N stage, the HCU 200 determines that the hybrid electric vehicle is not driven, that is, the driving is not influenced even though the learning progresses to monitor the engine torque.
The HCU 200 controls the motor torque command TMot_com to follow a negative value of the engine torque command TEng_com (S210). That is, when an absolute value of the motor torque command TMot_com is increased up to a point where a sum of the output torques of the engine 10 and the motor 20 becomes 0, the engine speed and the motor speed are increased and then converge on a uniform value.
When the engine speed and the motor speed converge on the uniform value (S220), the HCU 200 calculates the output torque of the engine (S230). That is, the HCU 200 calculates the output torque TMot_calc of the motor, and determines the absolute value of the calculated output torque TMot_calc of the motor as the output torque TEng_calc of the engine.
The HCU 200 calculates a second difference value TEng_diff between the engine torque command TEng_com and the calculated output torque TEng_calc of the engine (S240).
The HCU 200 compares the second difference value TEng_diff with a predetermined third reference value Tref3 (S250). The third reference value Tref3 may be determined through an experiment by those skilled in the art.
In step S250, when the second difference value TEng_diff is larger than the third reference value Tref3, the HCU 200 enters in the fail safe mode to control the driving of the hybrid electric vehicle (S300).
In step S250, when the second difference value TEng_diff is smaller than or equal to the third reference value Tref3, the HCU 200 stores the engine torque command TEng_com, the calculated output torque TEng_calc of the engine, and the second difference value TEng_diff (S260).
As illustrated in FIG. 4, the second memory 230c includes n number of cells. In each cell, the engine torque command TEng_com, the calculated output torque TEng_calc of the engine, and the second difference value TEng_diff are stored. That is, in an i-th cell, an i-th engine torque command TEng_com_i, an i-th calculated output torque TEng_calc_i of the engine, and an i-th second difference value TEng_diff_i are stored. When an output torque TEng_calc_1 of a new engine is calculated, the i-th calculated output torque TEng_calc_i of the engine is newly stored as an i+1-th calculated output torque of the engine, and a previous n-th calculated output torque TEng_calc_n of an engine is deleted. That is, the second memory 230c always stores only the last n output torques of the engine. The engine torque command and the second difference value are also stored in the same way.
The HCU 200 calculates an average TEng_diff_avg of n second difference values (S270).
The HCU 200 compares the average TEng_diff_avg of second difference values with a fourth reference value Tref4 (S280). The fourth reference value Tref4 may be determined through an experiment by those skilled in the art.
In step S280, when the average TEng_diff_avg of the second difference values is larger than the fourth reference value Tref4, the HCU 200 corrects the engine torque command map 230d based on the average TEng_diff_avg of the second difference values (S290). In this case, the HCU 200 may correct the engine torque map stored in the ECU 110. The ECU 110 may control the engine 10 according to the corrected engine torque map.
Accordingly, by learning the output torque of the engine having a characteristic deviation according to deterioration of the hybrid electric vehicle, the engine may be more precisely controlled.
In step S200, when the average TEng_diff_avg of the second difference values is smaller than or equal to the fourth reference value Tref4, the HCU 200 may determine that the engine 10 is driven normally.
As described above, according to the exemplary embodiment of the present disclosure, it is possible to monitor an engine torque and a motor torque without an additional torque sensor and reduce the cost.
Further, it is possible to precisely control the engine and the motor by learning the engine torque and the motor torque to correct an engine torque command map and a motor torque command map.
While this disclosure has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the present disclosure is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

## Claims

1. A method for monitoring a torque in a hybrid electric vehicle, the method comprising steps of:
calculating an output torque of a motor based on a discharging power of a high voltage battery, a consumption power of a plurality of electric loads, and a motor speed;
calculating a first difference value between a motor torque command and the calculated output torque of the motor;
comparing the first difference value with a first reference value; and
entering in a fail safe mode when the first difference value is larger than the first reference value,
wherein the output torque of the motor is controlled by a motor control unit (MCU) which includes an inverter, and
wherein the output torque of the motor is determined by a value calculated from Equation of:





  
    
      T
      
        Mot
        ⁢
        _
        ⁢
        Calc
      
    
    =
    
      
        
          
            P
            Batt
          
          -
          
            P
            Load
          
        
        
          ω
          Mot
        
      
      ×
      
        μ
        Mot
      
      ×
      
        μ
        Inverter
      
    
  
  ,



wherein PBatt is the discharging power of the high voltage battery, PLoad is the consumption power of the plurality of electric loads, ωMot is the motor speed, μMot is a discharging efficiency of the motor, and μInverter is a discharging efficiency of the inverter.

2. The method of claim 1, further comprising steps of:
storing the first difference value when the first difference value is smaller than or equal to the first reference value;
calculating an average of a set number of stored first difference values;
comparing the average of the first difference values with a second reference value; and
correcting a motor torque command map when the average of the first difference values is larger than the second reference value.

3. The method of claim 2, further comprising a step of:
correcting a motor torque map when the average of the first difference values is larger than the second reference value.

4. The method of claim 2, further comprising steps of:
calculating an output torque of an engine based on the calculated output torque of the motor when the average of the first difference values is smaller than or equal to the second reference value;
calculating a second difference value between an engine torque command and the calculated output torque of the engine;
comparing the second difference value with a third reference value; and
entering in the fail safe mode when the second difference value is larger than the third reference value.

5. The method of claim 4, wherein
the step of calculating the output torque of the engine includes steps of:
controlling the motor torque command to follow a negative value of the engine torque command while the motor and the engine synchronize with each other; and
determining an absolute value of the calculated output torque of the motor as the output torque of the engine when the motor speed and an engine speed converge on a uniform value.

6. The method of claim 4, further comprising steps of:
storing the second difference value when the second difference value is smaller than or equal to the third reference value;
calculating an average of a set number of stored second difference values;
comparing the average of the second difference values with a fourth reference value; and
correcting an engine torque command map when the average of the second difference values is larger than the fourth reference value.

7. The method of claim 6, further comprising a step of:
correcting an engine torque map when the average of the second difference values is larger than the fourth reference value.