# US 11,077,757 B2 · Vehicle and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,757 B2 - Document ID: US11077757B2 - Status: Granted - Kind: B2 - Application number: 16/212,315 - Filed: 2018-12-06 - Published: 2019-11-07 - Granted: 2021-08-03 - Earliest claimed: 2018-12-06 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Song Il Park - Web page: https://patentgrep.com/patent/US11077757B2 ## CPC - B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed - B60L 3/10: Indicating wheel slip {; Correction of wheel slip} - B60L 15/08: using pulses - B60L 50/51: characterised by AC-motors - B60L 2240/465: Slip - B60L 2260/24: Coasting mode - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - 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 - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A vehicle includes: a plurality of wheels; a motor for providing a driving force to the plurality of wheels based on electrical energy stored in a battery; a modulator for controlling a number of rotations of the motor; and a controller for controlling the modulator based on a first control value at a coasting control and controlling the modulator based on a second control value when a wheel slip occurs in a safety control. ## Claims ### Claim 1 A vehicle comprising: a plurality of wheels; a motor for providing a driving force to the plurality of wheels based on electrical energy stored in a battery; a modulator for controlling a number of rotations of the motor; and a controller for: controlling the modulator based on a first control value for controlling the motor to rotate with a first magnitude torque at a coasting control, when a wheel slip occurs in a safety control, controlling the modulator based on a second control value for controlling the motor to rotate with a second magnitude torque other than zero, and when the wheel slip dissipates, controlling the modulator so that the motor rotates by gradually raising a magnitude of torque from the second magnitude torque to the first magnitude torque based on a preset time and a difference between the first magnitude torque and the second magnitude torque. ### Claim 2 (depends on 1) The vehicle according to claim 1, wherein the controller calculates a modulation value through a pulse width modulation (PWM) method based on at least one of the first control value or the second control value. ### Claim 3 (depends on 1) The vehicle according to claim 1, wherein the controller controls the modulator with a second modulation value calculated based on the second control value, and then controls the modulator again by increasing the second control value when the wheel slip dissipates. ### Claim 4 (depends on 3) The vehicle according to claim 3, wherein the controller releases the safety control when the increased second control value is equal to the first control value. ### Claim 5 (depends on 3) The vehicle according to claim 3, wherein the controller further decreases the second control value when the wheel slip occurs during the increase of the second control value. ### Claim 6 (depends on 3) The vehicle according to claim 3, wherein the controller increases the second control value based on the preset time. ### Claim 7 (depends on 1) The vehicle according to claim 1, further comprising a paddle shifter for receiving an input command from a driver, wherein the controller determines the first control value based on the input command transmitted by the paddle shifter. ### Claim 8 (depends on 1) The vehicle according to claim 1, wherein the controller determines the wheel slip when a rotational speed difference between front wheels among the plurality of wheels and rear wheels among the plurality of wheels is equal to or more than a reference value. ### Claim 9 (depends on 1) The vehicle according to claim 1, further comprising: a sensor; and a communication device for external communication, wherein the controller determines the safety control based on information on a road surface sensed by the sensor and transmitted from the communication device. ### Claim 10 A control method of a vehicle, which includes a motor for generating a driving force to wheels based on electrical energy stored in a battery, the control method comprising steps of: determining, by a controller, a safety control based on a state of a road surface; controlling, by the controller, the motor based on a first control value for controlling the motor to rotate with a first magnitude torque, at a coasting control; when a wheel slip occurs in the safety control, controlling, by the controller, the motor based on a second control value for controlling the motor to rotate with a second magnitude torque other than zero; and when the wheel slip dissipates, controlling, by the controller, the modulator so that the motor rotates by gradually raising a magnitude of torque from the second magnitude torque to the first magnitude torque based on a preset time and a difference between the first magnitude torque and the second magnitude torque. ### Claim 11 (depends on 10) The control method according to claim 10, wherein the step of controlling the motor based on the second control value comprises: calculating a modulation value through a pulse width modulation (PWM) method based on at least one of the first control value or the second control value; and controlling a number of rotations of the motor based on the calculated modulation value. ### Claim 12 (depends on 10) The control method according to claim 10, wherein the step of controlling the motor based on the second control value comprises controlling the motor with a second modulation value calculated based on the second control value, and then controlling the motor again by increasing the second control value when the wheel slip dissipates. ### Claim 13 (depends on 12) The control method according to claim 12, wherein the step of controlling the motor based on the second control value comprises: releasing the safety control and executing the coasting control when the increased second control value is equal to the first control value. ### Claim 14 (depends on 12) The control method according to claim 12, wherein the step of controlling the motor based on the second control value comprises decreasing the second control value again when the wheel slip occurs during the increase of the second control value. ### Claim 15 (depends on 12) The control method according to claim 12, wherein the step of controlling the motor based on the second control value comprises increasing the second control value on the preset time. ### Claim 16 (depends on 10) The control method according to claim 10, wherein the vehicle further includes a paddle shifter for receiving an input command from a driver, and wherein the step of controlling the motor based on the first control value comprises: determining the first control value based on an input command transmitted by the paddle shifter. ### Claim 17 (depends on 10) The control method according to claim 10, further comprising determining the wheel slip when a rotational speed difference between front wheels among the plurality of wheels and rear wheels among the plurality of wheels is equal to or more than a reference value. ### Claim 18 (depends on 10) The control method according to claim 10, wherein the vehicle further includes: a sensor; and a communication device for external communication, and wherein the step of determining the safety control comprises determining the safety control based on the state of the road surface sensed by the sensor and transmitted by the communication device.