# US 10,118,625 B2 · Anti-jerk method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,625 B2 - Document ID: US10118625B2 - Status: Granted - Kind: B2 - Application number: 15/383,649 - Filed: 2016-12-19 - Published: 2017-08-17 - Granted: 2018-11-06 - Earliest claimed: 2016-01-04 - Assignees: MAGNA STEYR Fahrzeugtechnik AG & Co KG - Applicants: MAGNA STEYR Fahrzeugtechnik AG & Co KG - Inventors: Christian Pongratz - Web page: https://patentgrep.com/patent/US10118625B2 ## CPC - B60L 15/2072: {for drive off} - B60L 15/2081: {for drive off on a slope} - B60W 30/18027: {Drive off, accelerating from standstill} - B60W 30/188: Controlling power parameters of the driveline, e.g. determining the required power - B60W 30/192: Mitigating problems related to power-up or power-down of the driveline, e.g. start-up of a cold engine - B60W 30/20: Reducing vibrations in the driveline - B60K 6/44: Series-parallel type - B60K 6/52: Driving a plurality of drive axles, e.g. four-wheel drive - B60K 17/34: for driving both front and rear wheels, e.g. four wheel drive vehicles - B60K 17/356: having fluid or electric motor, for driving one or more wheels - B60L 2240/423: Torque - B60L 2260/20: Drive modes; Transition between modes - B60W 2030/206: {related or induced by the engine} - B60W 2510/084: Torque change rate - B60W 2710/085: Torque change rate - B60Y 2200/91: Electric vehicles - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/72: Electric energy management in electromobility - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A method for damping juddering in the drive train of a vehicle having an electric motor as the drive motor, and a vehicle having a closed-loop control system to carry out the method. The method includes calculating an electric motor setpoint torque for actuating the electric motor from an electric motor request torque which corresponds to a current request for a torque, and calculating a correction torque as a function of the electric motor request torque and a correction factor which is determined from a rotational speed of the electric motor. ## Claims ### Claim 1 A method for damping juddering in a drive train of a vehicle having an electric motor as a drive motor, the method comprising: calculating an electric motor setpoint torque for actuating the electric motor from an electric motor request torque which corresponds to a current request for a torque; and calculating a correction torque as a function of the electric motor request torque and a correction factor which is determined from a rotational speed of the electric motor. ### Claim 2 (depends on 1) The method of claim 1, wherein the electric motor setpoint torque is calculated, at least in a specific range of a velocity of the vehicle, as a sum of the electric motor request torque and of the correction torque. ### Claim 3 (depends on 1) The method of claim 1, wherein the correction torque is calculated as a product of a request correction torque formed from the electric motor request torque, and the correction factor. ### Claim 4 (depends on 1) The method of claim 1, wherein the request correction torque is calculated from the electric motor request torque via a value table. ### Claim 5 (depends on 1) The method of claim 1, wherein the correction factor comprises at least one of a positive value, and a negative value. ### Claim 6 (depends on 1) The method of claim 1, wherein the correction factor comprises at least one 0, −1, and +1. ### Claim 7 (depends on 1) The method of claim 1, wherein the correction factor is calculated from a rotational speed interference signal formed from the rotational speed of the electric motor. ### Claim 8 (depends on 1) The method of claim 1, wherein the rotational speed interference signal is calculated from the rotational speed of the electric motor via a bandpass filter. ### Claim 9 (depends on 1) The method of claim 1, further comprising comparing a current vehicle velocity with a defined limiting velocity. ### Claim 10 (depends on 9) The method of claim 9, wherein the electric motor setpoint torque is calculated as a sum of the electric motor request torque and of the correction torque if the current vehicle velocity is less in absolute value than the limiting velocity. ### Claim 11 (depends on 9) The method of claim 9, wherein the electric motor setpoint torque is provided by the electric motor request torque if the current vehicle velocity is greater in absolute value than the limiting velocity. ### Claim 12 (depends on 1) The method of claim 1, wherein the electric motor request torque corresponds to a current request for a torque by a driver of the vehicle. ### Claim 13 (depends on 1) The method of claim 1, wherein the electric motor request torque corresponds to a request via an accelerator pedal. ### Claim 14 (depends on 1) The method of claim 1, wherein the electric motor request torque corresponds to a request via an upstream closed-loop vehicle control system. ### Claim 15 A vehicle, comprising: a drive train having an electric motor as the drive motor; and a closed-loop control system including at least partially comprising hardware configured to, configured to: calculate an electric motor setpoint torque for actuating the electric motor from an electric motor request torque which corresponds to a current request for a torque; and calculate a correction torque as a function of the electric motor request torque and a correction factor which is determined from a rotational speed of the electric motor.