US 11,752,879 B2
Apparatus and method for controlling pitch reduction
Sheen Gil Kang, Yongin-si (KR)
Assigned to HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Jun. 15, 2021, as Appl. No. 17/347,942.
Claims priority of application No. 10-2020-0097471 (KR), filed on Aug. 4, 2020.
Prior Publication US 2022/0041061 A1, Feb. 10, 2022
Int. Cl. B60L 15/20 (2006.01); B60W 40/11 (2012.01); B60W 10/08 (2006.01)
CPC B60L 15/20 (2013.01) [B60W 10/08 (2013.01); B60W 40/11 (2013.01); B60L 2240/16 (2013.01); B60L 2240/423 (2013.01); B60L 2240/461 (2013.01); B60L 2260/44 (2013.01); B60W 2520/105 (2013.01); B60W 2520/28 (2013.01)] 16 Claims
OG exemplary drawing
 
1. An apparatus of controlling pitch reduction, the apparatus comprising:
a memory storing program instructions; and
a processor configured to execute the program instructions, the program instructions when executed configured to:
measure, by using a sensor device, a wheel speed vw and a longitudinal acceleration ax of a vehicle;
perform, by using a pitch rate estimation device, pseudo-integral of a difference between a wheel acceleration vw determined from the wheel speed vw and the longitudinal acceleration ax to determine an estimation value {circumflex over (θ)} of a pitch rate θ; and
generate, by using a pitch motion reduction controller, a control command for implementing a motor torque in which the determined estimation value {circumflex over (θ)} of the pitch rate θ is reflected and transmit the control command to an electric motor of the vehicle,
wherein the program instructions when executed are further configured to:
determine, by using an acceleration difference determining device included in the pitch rate estimation device, a difference u in acceleration by subtracting the wheel acceleration from the longitudinal acceleration; and
determine, by using an arithmetic mean calculating device included in the pitch rate estimation device, an arithmetic mean ū for the difference u in acceleration during a predetermined interval.