# US 11,028,919 B2 · Apparatus and method for controlling shifting of a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,028,919 B2 - Document ID: US11028919B2 - Status: Granted - Kind: B2 - Application number: 16/814,565 - Filed: 2020-03-10 - Published: 2021-05-06 - Granted: 2021-06-08 - Earliest claimed: 2019-11-04 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Hyun Woo Lim - Web page: https://patentgrep.com/patent/US11028919B2 ## CPC - F16H 59/36: Inputs being a function of speed - F16H 61/688: with two inputs, e.g. selection of one of two torque-flow paths by clutches - F16H 59/70: dependent on the ratio established - F16H 63/502: {for smoothing gear shifts} - F16H 2059/0221: {for selecting modes, e.g. sport, normal, economy} - F16H 2059/366: {Engine or motor speed} - F16H 2059/708: {Sensing reverse gear, e.g. by a reverse gear switch} - F16H 2063/025: {Final output mechanisms for double clutch transmissions} - F16H 2063/508: {for limiting transmission input torque, e.g. to prevent damage of transmission parts} - F16H: GEARING ## Abstract An apparatus and a method for controlling shifting of a vehicle are provided. The apparatus includes a transmission configured to transmit power generated from by a motor to a vehicle wheel, and a controller configured to control an operation of the transmission. The controller is configured to enter a LURCH control mode when sensing shifting of a shift lever between a D range and an R range during driving to maintain a clutch torque in the transmission, to decrease a vehicle speed by controlling a motor speed, and to shift a gear of the vehicle by changing a motor torque when the vehicle speed reaches a threshold speed. ## Claims ### Claim 1 An apparatus for controlling shifting of a vehicle, the apparatus comprising: a transmission configured to transmit power generated by a motor to a vehicle wheel; and a controller configured to control an operation of the transmission, wherein the controller is configured to enter a LURCH control mode when sensing shifting of a shift lever between a D range and an R range during driving to maintain a clutch torque in the transmission, to decrease a vehicle speed by controlling a motor speed, and to shift a gear of the vehicle by changing a motor torque when the vehicle speed reaches a threshold speed. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the controller is configured to recognize DR shifting of the shift lever through a shift lever position sensor, when a position of the shift lever is shifted from the D range to the R range during forward driving with a first gear or a second gear. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the controller is configured to recognize RD shifting of the shift lever through a shift lever position sensor, when a position of the shift lever is shifted from the R range to the D range during rearward driving. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the controller is configured to determine entrance into the LURCH control mode based on a holding time and the vehicle speed after changing a position of the shift lever. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the controller is configured to maintain a motor torque before changing the position of the shift lever when the vehicle speed is decreased. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the controller is configured to change a rotational direction of the motor to a direction opposite a current rotational direction through torque intervention control when the vehicle speed reaches the threshold speed. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the transmission includes a Double Clutch Transmission (DCT) including a first clutch configured to transmit the power to a first transmission input shaft engaged with an odd-numbered gear and a second clutch to transmit the power to a second transmission input shaft engaged with an even-numbered gear. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein the controller is configured to maintain a clutch torque of the first clutch or the second clutch, which is being driven, inside the transmission when entering the LURCH control mode. ### Claim 9 A method for controlling shifting of a vehicle, the method comprising: entering a LURCH control mode when sensing shifting of a shift lever between a D range and an R range during driving; maintaining a clutch torque in a transmission when entering the LURCH control mode to decrease a vehicle speed by controlling a motor speed; and shifting a gear of the vehicle by changing a motor torque when the vehicle speed reaches a threshold speed. ### Claim 10 (depends on 9) The method of claim 9, wherein entering the LURCH control mode comprises: sensing a shift in a position of the shift lever through a shift lever position sensor; and determining whether to perform LURCH control based on a holding time and the vehicle speed, after shifting of the position of the shift lever. ### Claim 11 (depends on 10) The method of claim 10, wherein sensing the shift in the position of the shift lever comprises recognizing DR shifting of the shift lever through the shift lever position sensor, when the position of the shift lever is shifted from the D range to the R range during forward driving with a first gear or a second gear. ### Claim 12 (depends on 10) The method of claim 10, wherein sensing the shift in the position of the shift lever comprises recognizing RD shifting of the shift lever through the shift lever position sensor, when a position of the shift lever is shifted from the R range to the D range during rearward driving. ### Claim 13 (depends on 9) The method of claim 9, wherein maintaining the clutch torque to decrease the vehicle speed includes maintaining the motor torque before shifting the position of the shift lever to reduce the motor speed such that the vehicle speed is deceased. ### Claim 14 (depends on 9) The method of claim 9, wherein shifting the gear of the vehicle includes changing a rotational direction of a motor to a direction opposite a present rotational direction through torque intervention control when the vehicle speed reaches the threshold speed. ### Claim 15 (depends on 9) The method of claim 9, further comprising increasing the vehicle speed by accelerating the motor speed after changing the motor torque. ### Claim 16 A vehicle comprising: a vehicle wheel; a motor; a transmission configured to transmit power generated by the motor to the vehicle wheel; and a controller configured to control an operation of the transmission, wherein the controller is configured to enter a LURCH control mode when sensing shifting of a shift lever between a D range and an R range during driving to maintain a clutch torque in the transmission, to decrease a vehicle speed by controlling a motor speed, and to shift a gear of the vehicle by changing a motor torque when the vehicle speed reaches a threshold speed. ### Claim 17 (depends on 16) The vehicle of claim 16, wherein the controller is configured to recognize DR shifting of the shift lever through a shift lever position sensor, when a position of the shift lever is shifted from the D range to the R range during forward driving with a first gear or a second gear. ### Claim 18 (depends on 16) The vehicle of claim 16, wherein the controller is configured to recognize RD shifting of the shift lever through a shift lever position sensor, when a position of the shift lever is shifted from the R range to the D range during rearward driving. ### Claim 19 (depends on 16) The vehicle of claim 16, wherein the controller is configured to determine entrance into the LURCH control mode based on a holding time and the vehicle speed after changing a position of the shift lever. ### Claim 20 (depends on 16) The vehicle of claim 16, wherein the transmission includes a Double Clutch Transmission (DCT) including a first clutch configured to transmit the power to a first transmission input shaft engaged with an odd-numbered gear and a second clutch to transmit the power to a second transmission input shaft engaged with an even-numbered gear.