Electric vehicle and method of controlling same

Abstract

The present invention relates to an electric vehicle and a method of controlling the same, the electric vehicle may include: a driving motor that generates power required to drive the vehicle; a first limited slip differential that limits a differential action caused by a first differential device mounted on the first drive shaft; a second limited slip differential that limits a differential action caused by a second differential device mounted on a second drive shaft; and a controller that controls a control sensitivity of the driving motor and control amounts of the first and second limited slip differentials according to a driving mode of the vehicle.

Description

[0001] Cross - reference to related applications

[0002] This application claims priority to Korean Patent Application No. 10 - 2023 - 0197136, filed on December 29, 2023, the entire content of which is incorporated herein for all purposes by this reference. Technical field

[0003] The present invention relates to an electric vehicle and a method of controlling the electric vehicle. More specifically, the present invention relates to an electric vehicle and a method of controlling the electric vehicle that can easily escape from an uneven road by limited - slip differentials respectively provided on a front drive shaft and a rear drive shaft. Background art

[0004] A limited - slip differential (LSD) synchronizes the left and right wheels to limit the differential action caused by a differential device.

[0005] In the related art, an LSD is generally installed only on a main drive shaft (e.g., a rear drive shaft of a rear - wheel - drive vehicle).

[0006] When an LSD is installed only on the main drive shaft, in the case where the vehicle is traveling on a flat straight road, the vehicle can easily escape from an uneven road. However, in special terrains (e.g., a bumpy road, a road with a large difference in friction coefficients between diagonal wheels), there is a problem that the differential - limiting performance of the vehicle's LSD cannot be fully exhibited.

[0007] In addition, in the case of an electric vehicle, since the increase rate of the output speed of the drive motor is very fast, when the drive motor uses the maximum output on an uneven road, the vehicle may still be disadvantageous in escaping from the uneven road.

[0008] The information included in the background art section of the present invention is only intended to deepen the understanding of the general background art of the present invention and should not be regarded as an admission or any form of implication that this information constitutes the prior art known to those skilled in the art. Summary of the invention

[0009] Aspects of the present invention are directed to providing an electric vehicle configured to easily escape from an uneven road and a method of controlling the electric vehicle.

[0010] An electric vehicle according to an exemplary embodiment of the present invention may include: a drive motor that generates power required to drive the vehicle; a first limited-slip differential that limits a differential action caused by a first differential device mounted on a first drive shaft; a second limited-slip differential that limits a differential action caused by a second differential device mounted on a second drive shaft; and a controller operably connected to the drive motor, the first limited-slip differential, and the second limited-slip differential, and configured to control a control sensitivity of the drive motor and control amounts of the first limited-slip differential and the second limited-slip differential according to a driving mode of the vehicle.

[0011] In some exemplary embodiments of the present invention, the driving mode may include a normal driving mode, a snow road driving mode, a sand road driving mode, a muddy road driving mode, and an uneven road driving mode.

[0012] In some exemplary embodiments of the present invention, when the driving mode is the uneven road driving mode, the controller may reduce the control sensitivity of the drive motor.

[0013] In some exemplary embodiments of the present invention, the control sensitivity may refer to an output change amount of the drive motor according to a change in an accelerator pedal opening.

[0014] In some exemplary embodiments of the present invention, the controller may set the control sensitivity in the uneven road driving mode to be less than the control sensitivity in the muddy road driving mode, the normal driving mode, and the snow road driving mode.

[0015] In some exemplary embodiments of the present invention, when the driving mode is the uneven road driving mode, the controller may set the control amounts of the first limited-slip differential and the second limited-slip differential to be maximum.

[0016] In some exemplary embodiments of the present invention, the control amounts of the first limited-slip differential and the second limited-slip differential may refer to clutch torques.

[0017] In some exemplary embodiments of the present invention, the controller may set the control sensitivity in the uneven road driving mode to be greater than the control sensitivity in the muddy road driving mode, the normal driving mode, and the snow road driving mode.

[0018] In some exemplary embodiments of the present invention, when the driving mode is the uneven road driving mode, the controller may turn off an electronic stability control device.

[0019] Another exemplary embodiment of the present invention provides a method for controlling an electric vehicle, the method may include: determining, by a controller, a driving mode of the vehicle; when the driving mode of the vehicle is an uneven road driving mode, reducing, by the controller, the control sensitivity of a drive motor and setting the clutch torques of a first limited slip differential and a second limited slip differential to maximum torques.

[0020] In some exemplary embodiments of the present invention, the driving mode may include a normal driving mode, a snow road driving mode, a sand road driving mode, a muddy road driving mode, and an uneven road driving mode.

[0021] In some exemplary embodiments of the present invention, the control sensitivity may refer to the output change amount of the drive motor according to the change in the accelerator pedal opening.

[0022] In some exemplary embodiments of the present invention, the control sensitivity in the uneven road driving mode may be set to be less than the control sensitivity in the muddy road driving mode, the control sensitivity in the normal driving mode, and the control sensitivity in the snow road driving mode.

[0023] In some exemplary embodiments of the present invention, the control sensitivity in the uneven road driving mode may be set to be greater than the control sensitivity in the muddy road driving mode, the control sensitivity in the normal driving mode, and the control sensitivity in the snow road driving mode.

[0024] In some exemplary embodiments of the present invention, when the driving mode is the uneven road driving mode, an electronic stability control device may be turned off.

[0025] According to an exemplary embodiment of the present invention, when the driving mode of the vehicle is the uneven road driving mode, the torque of the drive motor gradually increases, and the clutch torques of the first LSD and the second LSD are set to maximum torques, so that the vehicle can quickly escape from the uneven road.

[0026] In addition, the effects that can be obtained or predicted through the exemplary embodiments of the present invention are directly or implicitly included in the detailed description of the exemplary embodiments of the present invention. That is, various effects predicted according to the exemplary embodiments of the present invention will be included in the detailed description described below.

[0027] The method and device of the present invention have other features and advantages, which will be apparent from or will be described in detail in the accompanying drawings and subsequent embodiments incorporated herein. These drawings and embodiments together are used to explain the specific principles of the present invention. Description of the Drawings

[0028] Figure 1 is a conceptual diagram showing the configuration of an electric vehicle according to an exemplary embodiment of the present invention.

[0029] Figure 2 is a block diagram showing the configuration of an electric vehicle according to an exemplary embodiment of the present invention.

[0030] Figure 3 is a conceptual diagram showing the configuration of a differential device and a limited-slip differential according to an exemplary embodiment of the present invention.

[0031] Figure 4 is a flowchart showing a method of controlling an electric vehicle according to an exemplary embodiment of the present invention.

[0032] Figure 5 is a schematic diagram describing a control method according to a driving mode according to an exemplary embodiment of the present invention.

[0033] Figure 6A and Figure 6B is a schematic diagram showing the configuration of a display unit of an electric vehicle according to an exemplary embodiment of the present invention.

[0034] Figure 7 and Figure 8 is a schematic diagram describing the effects of an electric vehicle according to an exemplary embodiment of the present invention.

[0035] Figure 9 is a schematic diagram describing a computing device according to an exemplary embodiment of the present invention.

[0036] It will be appreciated that the accompanying drawings are not necessarily drawn to scale, presenting a suitably simplified representation of various features illustrating the basic principles of the present invention. Specific design features of the present invention as included herein (including, for example, specific dimensions, orientations, positions, and shapes) will be determined in part by the particular intended application and use environment.

[0037] In the drawings, throughout the several views of the drawings, like reference numerals refer to the same or equivalent parts of the present invention. Detailed Description

[0038] Reference will now be made in detail to various embodiments of the present invention, examples of which are illustrated in the accompanying drawings and described below. Although the present invention will be described in conjunction with the exemplary embodiments of the present invention, it should be understood that this specification is not intended to limit the present invention to those exemplary embodiments. On the other hand, the present invention is intended to cover not only the exemplary embodiments of the present invention, but also various alternative embodiments, modified embodiments, equivalent embodiments, and other embodiments that may be included within the spirit and scope of the present invention as defined by the appended claims.

[0039] The terms used herein are for the purpose of describing particular exemplary embodiments of the present invention only and are not intended to limit the present invention. As used herein, the singular forms are also intended to include the plural forms unless the context clearly indicates otherwise. It should be understood that when the terms "comprises" and / or "comprising" are used in this specification, the terms "comprises" and / or "comprising" are intended to mean the presence of the recited features, integers, steps, operations, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, and / or groups thereof. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0040] In addition, it should be understood that one or more or at least one of the following methods or aspects thereof may be executed by at least one controller. The term "controller" may refer to a hardware device including a memory and a processor. The memory is configured to store program instructions, and the processor is specifically programmed to execute the program instructions to more specifically execute one or more of the processes described below. As disclosed herein, the controller may be configured to control units, modules, components, devices, or operations similar thereto. In addition, as will be recognized by those skilled in the art, it should be understood that the following methods may be executed in conjunction with one or more other components by a device including a controller.

[0041] In addition, the controller of the present invention may be implemented as a non-volatile computer-readable recording medium including executable program instructions executed by a processor. Examples of computer-readable recording media include, but are not limited to, ROM, RAM, compact disc (CD) ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer-readable recording medium is also distributed throughout a computer network, and the program instructions may be stored and executed through a distribution scheme such as a telematics server or a controller area network (CAN).

[0042] The present invention will be described in detail so that it can be easily implemented by those skilled in the art to which the present invention pertains. However, the present invention may be implemented in various different forms and is not limited to the exemplary embodiments described herein.

[0043] Components irrelevant to the description will be omitted to clearly describe the present invention, and throughout the specification, the same elements will be denoted by the same reference numerals.

[0044] In addition, since the dimensions and thicknesses of each component shown in the drawings are arbitrarily represented for ease of explanation, the present invention is not particularly limited to the dimensions and thicknesses of each component shown, and the thicknesses are enlarged and shown to clearly represent the respective components and regions.

[0045] The suffixes “module” and / or “unit” of components used in the following description are provided or used interchangeably only for the ease of preparation of the present invention, and do not have different meanings or functions of their own.

[0046] In addition, when describing the exemplary embodiments of the present invention, if it is determined that the detailed description makes the gist of the exemplary embodiments of the present invention unclear, the detailed description of related known technologies will be omitted.

[0047] In addition, the drawings are provided to help easily understand the exemplary embodiments disclosed in this specification, and it should be understood that the technical spirit disclosed in this specification is not limited by the drawings, and the present invention includes all modified embodiments, equivalent embodiments, and alternative embodiments included within the spirit and technical scope of the present invention.

[0048] Terms including serial numbers (such as first and second) are used to describe various components, but the components are not limited by these terms.

[0049] In the following description, unless an explicit expression such as “one” or “single” is used, expressions described in the singular can be interpreted as singular or plural.

[0050] The terms are only used to distinguish one component from another.

[0051] In the flowcharts described with reference to the drawings, the order of operations can be changed, multiple operations can be combined, or any operation can be divided, and a specific operation can be omitted.

[0052] Hereinafter, an electric vehicle according to an exemplary embodiment of the present invention will be described in detail with reference to the drawings.

[0053] Figure 1 is a conceptual diagram showing the configuration of an electric vehicle according to an exemplary embodiment of the present invention. In addition, Figure 2 is a block diagram showing the configuration of an electric vehicle according to an exemplary embodiment of the present invention.

[0054] As Figure 1 and Figure 2 shown, an electric vehicle according to various exemplary embodiments of the present invention may include a drive motor, a first LSD 50 provided on a first drive shaft 10, a second LSD 60 provided on a second drive shaft 20, and a controller 90 that controls the control sensitivity of the drive motor and the control amounts of the first LSD 50 and the second LSD 60 according to the driving mode of the vehicle.

[0055] The drive motor can be configured to generate the power required to drive an electric vehicle according to an exemplary embodiment of the present invention. The drive motor can be an electric motor that generates power through electric energy. The drive motor can include a first drive motor 1 and a second drive motor 2.

[0056] The power generated by the first drive motor 1 can be transmitted to the left and right wheels of the first drive shaft 10 (e.g., the rear drive shaft or the main drive shaft) through the first speed reducer 3 and the first differential device 30. In addition, the power generated by the second drive motor 2 can be transmitted to the left and right wheels of the second drive shaft 20 (e.g., the front drive shaft or the auxiliary drive shaft) through the second speed reducer 4 and the second differential device 40.

[0057] The first LSD 50 can be provided on the first drive shaft 10 (e.g., the rear drive shaft) and can limit the differential action caused by the first differential device 30 provided on the first drive shaft 10.

[0058] The first differential device 30 can cause the left and right wheels provided on the first drive shaft 10 to rotate at different speeds. The first differential device 30 generates a speed difference between the inner wheel and the outer wheel during vehicle steering.

[0059] The first LSD 50 can limit the differential action of the left and right wheels generated by the first differential device 30. That is, the first LSD 50 can synchronize the left and right wheels of the first drive shaft 10, thereby limiting the speed difference between the left and right wheels. The first LSD 50 can be an electric limited slip differential (eLSD).

[0060] The second LSD 60 can be provided on the second drive shaft 20 (e.g., the front drive shaft) and can limit the differential action caused by the second differential device 40 provided on the second drive shaft 20.

[0061] The second differential device 40 can cause the left and right wheels provided on the second drive shaft 20 to rotate at different speeds. The second differential device 40 generates a speed difference between the inner wheel and the outer wheel during vehicle steering.

[0062] The second LSD 60 can limit the differential action of the left and right wheels generated by the second differential device 40. That is, the second LSD 60 can synchronize the left and right wheels of the second drive shaft 20, thereby limiting the speed difference between the left and right wheels. The second LSD 60 can be an electric limited slip differential (eLSD).

[0063] The first LSD 50 and the second LSD 60 can synchronize the left and right wheels through the clutch 70 when a speed difference is generated between the left and right wheels.

[0064] The clutch 70 may include a clutch disc 71 and a friction disc 73. The clutch disc 71 may be connected to the axle gears (or bevel gears) 33 of the first differential device 30 and the second differential device 40, and the friction disc 73 of the clutch 70 may be connected to the differential case 31. Accordingly, when the first LSD 50 and the second LSD 60 are actuated, the left and right wheels can be synchronized by the torque applied to the clutch disc 71 and the friction disc 73 of the clutch 70.

[0065] When maximum torque is applied to the clutch 70 of the first LSD 50 and the second LSD 60, the left and right wheels are completely synchronized, and the left and right wheels rotate at the same speed. In this case, the first differential device 30 and the second differential device 40 are actuated as a locked differential.

[0066] When no torque is applied to the clutch 70 of the first LSD 50 and the second LSD 60, the left and right wheels are not synchronized, and the left and right wheels rotate at different speeds according to the driving conditions. In this case, the first differential device 30 and the second differential device 40 are actuated as an open differential.

[0067] The controller 90 may be configured to control the control sensitivity of the drive motor and the control amount of the first LSD 50 and the second LSD 60 according to the driving mode of the vehicle. The controller 90 may include a first controller 90 that controls the drive motor and a second controller 90 that controls the first LSD 50 and the second LSD 60. The first controller 90 and the second controller 90 may be integrated into one controller 90 and may be distributed as needed. In an exemplary embodiment of the present invention, the first controller 90 and the second controller 90 are described as being integrated.

[0068] To this end, the controller 90 may be implemented as one or more processors that operate through a set program, and the memory of the controller 90 stores program instructions that are programmed to execute each step of the method for controlling an electric vehicle according to an exemplary embodiment of the present invention through one or more processors.

[0069] The driving mode of the vehicle may include a normal driving mode, a snow road driving mode, a sand road driving mode, a muddy road driving mode, and an uneven road driving mode.

[0070] The snow road driving mode may refer to a driving mode that prevents the vehicle from slipping on a slippery road such as a snow road.

[0071] The sandy road driving mode may refer to the driving mode for a vehicle to escape from a sandy road.

[0072] The muddy road driving mode may refer to the driving mode for a vehicle to escape from a muddy road.

[0073] The uneven road driving mode may refer to the driving mode for a vehicle to escape from an uneven road. In an exemplary embodiment of the present invention, the road on which the vehicle travels is an uphill road, and the uneven road may refer to a road where the friction coefficient of the road surface contacted by the front left wheel (or front right wheel) is different from the friction coefficient of the road surface contacted by the rear right wheel (or rear left wheel) (hereinafter, referred to as a "diagonal offset friction ramp" as needed). Alternatively, in the case of an uneven road, the road on which the vehicle travels is an uphill road and the road surface is uneven.

[0074] The normal driving mode may refer to the driving mode of a vehicle other than special driving modes such as the snowy road driving mode, the sandy road driving mode, the muddy road driving mode, and the uneven road driving mode.

[0075] The driving mode of the vehicle can be selected by the driver's input. That is, the driver can select the driving mode through the input unit 8 provided in the vehicle.

[0076] The control sensitivity of the drive motor may refer to the output change amount (or torque change amount) of the drive motor according to the change in the opening of the accelerator pedal 5, and the control amounts of the first LSD 50 and the second LSD 60 may refer to the clutch torques of the first LSD 50 and the second LSD 60.

[0077] When the driving mode of the vehicle is the uneven road driving mode, the controller 90 may reduce the control sensitivity of the drive motor and control the clutch torques of the first LSD 50 and the second LSD 60 to reach the maximum torque.

[0078] As the control sensitivity of the drive motor becomes smaller, the output change amount of the drive motor according to the change in the accelerator pedal opening can be reduced. In this case, for the same change in the opening of the accelerator pedal 5, the output change amount (or torque change amount) of the drive motor can be reduced.

[0079] As the control sensitivity of the drive motor increases, the output change amount of the drive motor according to the change in the accelerator pedal opening can be increased. In this case, for the same change in the accelerator pedal opening, the output change amount (or torque change amount) of the drive motor can be increased.

[0080] When the maximum torque is applied as the clutch torques of the first LSD 50 and the second LSD 60, the left and right wheels of the first drive shaft 10 can be completely synchronized, and the left and right wheels of the second drive shaft 20 can be completely synchronized.

[0081] The vehicle according to various exemplary embodiments of the present invention may further include a display unit 9 that displays the operating states of the first LSD 50 and the second LSD 60. The display unit 9 may be implemented by being provided on the center instrument panel or the combination instrument panel of the vehicle.

[0082] By providing the operating states of the first LSD 50 and the second LSD 60 through the display unit 9, the driver can easily and intuitively determine the current driving information.

[0083] The electric vehicle according to various exemplary embodiments of the present invention may include an electronic stability control (ESC) device 6. The ESC device 6, as a system for stably controlling the overall driving posture of the vehicle, can ensure the driving stability of the vehicle by independently and automatically controlling each wheel of the vehicle in combination with the anti-lock braking system (ABS) and the traction control system (TCS) without the driver braking separately.

[0084] Hereinafter, a method of controlling an electric vehicle according to an exemplary embodiment will be described in detail with reference to the accompanying drawings.

[0085] Figure 4 is a flowchart showing a method of controlling an electric vehicle according to an exemplary embodiment of the present invention.

[0086] Referring to Figure 4 , the driver can select the driving mode of the vehicle through the input unit 8 (S10).

[0087] The controller 90 may be configured to determine the driving mode of the vehicle through the driver's input (S20), and determine the control sensitivity of the drive motor and the clutch torque of the first LSD 50 and the second LSD 60 according to the driving mode of the vehicle.

[0088] When the driving mode of the vehicle is the rough road driving mode, the controller 90 may reduce the control sensitivity of the drive motor and set the control amounts (the clutch torques of the first LSD 50 and the second LSD 60) of the first LSD 50 and the second LSD 60 to the maximum torque (S30).

[0089] At this time, the control sensitivity of the drive motor may refer to the output change amount (or the torque change amount of the drive motor) of the drive motor according to the change in the accelerator pedal opening.

[0090] As the control sensitivity decreases, even if the change in the accelerator pedal opening is the same, the output of the drive motor can be reduced. That is, even if the driver slowly depresses the accelerator pedal, the output of the drive motor can increase slowly.

[0091] Conversely, when the control sensitivity increases, even if the change in the accelerator pedal opening is the same, the output of the drive motor can increase. That is, even if the driver slowly depresses the accelerator pedal, the output of the drive motor can increase rapidly.

[0092] When the driving mode of the vehicle is the rough road driving mode, the controller 90 can set the control sensitivity in the rough road driving mode to be less than that in other driving modes.

[0093] That is, the control sensitivity in the rough road driving mode can be set to be less than that in the muddy road driving mode, the snowy road driving mode, and the normal driving mode. Thus, even if the change in the accelerator pedal opening is the same, the change in the output of the drive motor is reduced.

[0094] In addition, when the driving mode of the vehicle is the rough road driving mode, the controller 90 can set the control amounts of the first LSD 50 and the second LSD 60 to be maximum.

[0095] At this time, the control amounts of the first LSD 50 and the second LSD 60 can refer to the clutch torques of the first LSD 50 and the second LSD 60, and the clutch torques of the first LSD 50 and the second LSD 60 can be set to the maximum torque.

[0096] When the clutch torques of the first LSD 50 and the second LSD 60 are set to the maximum torque, the left and right wheels of the first drive shaft 10 can be completely synchronized, and the left and right wheels of the second drive shaft 20 can be completely synchronized.

[0097] Accordingly, in the rough road driving mode, the torque of the drive motor can increase slowly, and the clutch torques of the first LSD 50 and the second LSD 60 can be set to the maximum torque. Thus, it is possible to prevent the wheels of the vehicle from spinning without traction, or to prevent the yaw behavior of the vehicle due to the rapid increase in the torque of the drive motor, so that the vehicle can quickly escape from the rough road.

[0098] On the other hand, when the driving mode of the vehicle is the rough road driving mode, the controller 90 can turn off the electronic stability control device 6 (S40).

[0099] In the rough road driving mode, the ESC device 6 is turned off to control the output of the vehicle (e.g., the output of the drive motor and / or the clutch torque of the first LSD 50 and the second LSD 60) according to the predicted driver input (e.g., the opening of the accelerator pedal and / or the operation of the steering wheel).

[0100] Reference Figure 5 , the control sensitivity in the rough road driving mode and the sandy road driving mode can be the minimum, the control sensitivity in the muddy road driving mode can be relatively large, the control sensitivity in the normal driving mode can be relatively larger, and the control sensitivity in the snowy road driving mode can be set to the maximum.

[0101] In addition, in the rough road driving mode, the ESC device 6 can be turned off, in the normal driving mode, the ESC device 6 can be selectively turned on, and in the sandy road driving mode and the muddy road driving mode, the ESC device 6 can be continuously turned on.

[0102] In addition, in the normal driving mode, the LSD of the first drive shaft 10 (or the main drive shaft) can be selectively actuated.

[0103] In the snowy road driving mode and the muddy road driving mode, either the LSD of the first drive shaft 10 (or the main drive shaft) or the LSD of the second drive shaft 20 (or the auxiliary drive shaft) can be selectively actuated.

[0104] In addition, in the sandy road driving mode and the rough road driving mode, the LSD of the first drive shaft 10 (or the main drive shaft) and the LSD of the second drive shaft 20 (or the auxiliary drive shaft) can be continuously actuated.

[0105] Accordingly, in the rough road driving mode, the output (or torque) of the drive motor can be slowly increased by reducing the control sensitivity of the drive motor, and the clutch torque of the first LSD 50 and the second LSD 60 can be set to the maximum torque to enable the vehicle to quickly escape from the rough road.

[0106] Figure 7 is a graph showing the escape time on a diagonal offset friction ramp with an inclination angle of 20%. In addition, Figure 8 is a table showing the escape times on diagonal offset friction ramps with different inclination angles.

[0107] Reference Figure 7 and Figure 8, it can be seen that, compared with a rear-wheel drive vehicle (RWD) without an LSD, a four-wheel drive vehicle (AWD) without an LSD, a rear-wheel drive vehicle (RWD-e) having an LSD only on the main drive shaft, and a four-wheel drive vehicle (AWD-e) having an LSD only on the main drive shaft, the escape performance of the electric vehicle AWD-2e according to an exemplary embodiment of the present invention for escaping from an uneven road is maximally improved by 22.3%.

[0108] Furthermore, it can be seen that, compared with a rear-wheel drive vehicle (RWD) without an LSD, a four-wheel drive vehicle (AWD) without an LSD, a rear-wheel drive vehicle (RWD-e) having an LSD only on the main drive shaft, and a four-wheel drive vehicle (AWD-e) having an LSD only on the main drive shaft, the escape time of the electric vehicle AWD-2e according to an exemplary embodiment of the present invention on a diagonal offset friction ramp is fastest increased by 22.3%.

[0109] Return reference Figure 5 , the controller 90 can display the driving state of the vehicle through the display unit 9 according to the driving mode of the vehicle (S50). The driving state of the vehicle may include the operating states of the first LSD 50 and the second LSD 60 and the slip states of each wheel (the left and right wheels of the first drive shaft 10 and the left and right wheels of the second drive shaft 20) (see Figure 6A and Figure 6B ).

[0110] Accordingly, the driving state of the vehicle is displayed through the display unit 9 according to the driving mode of the vehicle, so that the driver can intuitively confirm that the vehicle is in an uneven road driving state.

[0111] When the driving mode of the vehicle is a driving mode other than the uneven road driving mode, the controller 90 may be configured to control the drive motor and the first LSD 50 and the second LSD 60 according to each driving mode (S60). Since the operations of the drive motor and the first LSD 50 and the second LSD 60 in driving modes other than the uneven road driving mode are known, detailed descriptions thereof will be omitted.

[0112] According to an exemplary embodiment of the present invention, when the driving mode of the vehicle is the uneven road driving mode, the torque of the drive motor slowly increases, and the clutch torques of the first LSD 50 and the second LSD 60 are set to the maximum torque, thereby enhancing the escape performance of the vehicle on an uneven road.

[0113] Furthermore, in the uneven road driving mode, the ESC device 6 is turned off to predict the output of the vehicle according to the driver's input.

[0114] In addition, the driving state of the vehicle is displayed by the display unit 9, enabling the driver to intuitively determine the driving state of the vehicle.

[0115] Figure 9 is a schematic diagram depicting a computing device according to an exemplary embodiment of the present invention.

[0116] Reference Figure 9 , a method for controlling an electric vehicle according to various exemplary embodiments of the present invention can be implemented by using the computing device 100.

[0117] The computing device 100 may include at least one of a processor 110, a memory 130, a user interface input device 140, a user interface output device 150, and a storage device 160, which communicate with each other via a bus 120. The computing device 100 may further include a network interface 170 electrically connected to a network 190. The network interface 170 may send signals to or receive signals from another entity via the network 190.

[0118] The processor 110 may be implemented in various types, including a microcontroller unit (MCU), an application processor (AP), a central processing unit (CPU), a graphics processing unit (GPU), and a neural processing unit (NPU), and may be any semiconductor device that executes instructions stored in the memory 130 or the storage device 160. The processor 110 may be configured to implement the functions and methods regarding Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6A , Figure 6B , Figure 7 and Figure 8 .

[0119] The memory 130 and the storage device 160 may be various types of volatile or non-volatile storage media. For example, the memory may include a read-only memory (ROM) 131 and a random access memory (RAM) 132. In an exemplary embodiment of the present invention, the memory 130 may be located inside or outside the processor 110 and is connected to the processor 110 in various well-known ways.

[0120] In some exemplary embodiments of the present invention, at least some components or functions of the electric vehicle and the method for controlling the electric vehicle according to the exemplary embodiments of the present invention may be implemented as a program or software executed by the computing device 100, or the program or software may be stored in a computer-readable medium.

[0121] In some exemplary embodiments of the present invention, at least some components or functions of the method for controlling an electric vehicle according to the exemplary embodiments of the present invention may be implemented by using the hardware or circuitry of the computing device 100, or as separate hardware or circuitry that can be electrically connected to the computing device 100.

[0122] In various exemplary embodiments of the present invention, each of the above operations may be performed by a control device, and the control device may be configured by a plurality of control devices or an integrated single control device.

[0123] In various exemplary embodiments of the present invention, the memory and the processor may be provided as one chip, or provided as separate chips.

[0124] In various exemplary embodiments of the present invention, the scope of the present invention includes software or machine-executable commands (e.g., operating systems, applications, firmware, programs, etc.) for enabling the operations of the methods according to various embodiments to be executed on a device or computer, and non-volatile computer-readable media including such software or commands stored thereon and executable on the device or computer.

[0125] In various exemplary embodiments of the present invention, the control device may be implemented in the form of hardware or software, or may be implemented as a combination of hardware and software.

[0126] Furthermore, terms such as "unit", "module", etc. included in the specification denote units for processing at least one function or operation, which may be implemented by hardware, software, or a combination thereof.

[0127] In an exemplary embodiment of the present invention, a vehicle may be referred to based on the concept including various transportation means. In some cases, a vehicle may be interpreted based on the concept including not only various land transportation means such as cars, motorcycles, trucks, and buses that travel on roads, but also various transportation means such as airplanes, drones, ships, etc.

[0128] For the convenience of explanation and to accurately define the appended claims, the terms "upper", "lower", "inner", "outer", "above", "below", "upward", "downward", "front", "rear", "rear part", "inner side", "outer side", "inward", "outward", "internal", "external", "inner side", "outer side", "forward", and "backward" are used to describe the features of the exemplary embodiments with reference to the positions of these features shown in the drawings. It will be further understood that the term "connected" or its derivatives refer to direct connection and indirect connection.

[0129] The term "and / or" may include combinations of multiple related listed items or any one of multiple related listed items. For example, "A and / or B" includes three cases, namely, "A", "B", and "A and B".

[0130] In an exemplary embodiment of the present invention, "at least one of A and B" may refer to "at least one of A or B" or "at least one of a combination of at least one of A and B". In addition, "one or more of A and B" may refer to "one or more of A or B" or "one or more of a combination of one or more of A and B".

[0131] In this specification, unless the context clearly indicates otherwise, a singular expression includes a plural expression.

[0132] In an exemplary embodiment of the present invention, it should be understood that terms such as "comprising" or "having" are intended to indicate the presence of features, numerical values, steps, operations, elements, components, or combinations thereof described in the specification, and do not exclude the possibility of adding or existing one or more other features, numerical values, steps, operations, elements, components, or combinations thereof.

[0133] According to an exemplary embodiment of the present invention, components may be combined with each other to be implemented as one, or some components may be omitted.

[0134] Hereinafter, the fact that parts of the hardware are operably coupled may include that a direct and / or indirect connection is established between the parts of the hardware by wired and / or wireless means.

[0135] For purposes of illustration and description, the foregoing description of specific exemplary embodiments of the present invention has been presented. The foregoing description is not intended to be exhaustive or to limit the present invention to the precise form disclosed, and obviously, many modifications and variations are possible in light of the above teachings. The exemplary embodiments were chosen and described in order to explain certain principles of the present invention and its practical application so that others skilled in the art may implement and utilize the various exemplary embodiments of the present invention and their various alternative and modified embodiments. The scope of the present invention is intended to be defined by the appended claims and their equivalents.

Claims

1. A vehicle comprising: a drive motor that generates the power required to drive the vehicle; a first limited slip differential that limits differential action caused by a first differential device mounted on the first drive shaft; a second limited slip differential that limits differential action caused by a second differential device mounted on the second drive shaft; and A controller is operably connected to the drive motor, the first limited slip differential and the second limited slip differential and is configured to control a control sensitivity of the drive motor and a control amount of the first limited slip differential and the second limited slip differential according to a driving mode of the vehicle.

2. The vehicle according to claim 1, wherein: The driving modes include a normal driving mode, a snow road driving mode, a sand road driving mode, a muddy road driving mode and an uneven road driving mode.

3. The vehicle according to claim 2, wherein: In response to the driving mode being the rough road driving mode, the controller is further configured to reduce the control sensitivity of the driving motor.

4. The vehicle according to claim 3, wherein: The control sensitivity refers to the amount of change in the output of the drive motor according to the change in the accelerator pedal opening.

5. The vehicle according to claim 4, wherein: The controller is further configured to set the control sensitivity in the uneven road driving mode to be smaller than the control sensitivity in the muddy road driving mode, the control sensitivity in the normal driving mode, and the control sensitivity in the snowy road driving mode.

6. The vehicle according to claim 2, wherein: In response to the driving mode being the rough road driving mode, the controller is further configured to set the control amounts of the first limited slip differential and the second limited slip differential to a maximum.

7. The vehicle according to claim 6, wherein: The control amount of the first limited slip differential and the second limited slip differential refers to clutch torque.

8. The vehicle according to claim 6, wherein: The controller is further configured to set the control sensitivity in the uneven road driving mode to be greater than the control sensitivity in the muddy road driving mode, the control sensitivity in the normal driving mode, and the control sensitivity in the snowy road driving mode.

9. The vehicle of claim 1, wherein: In response to the driving mode being a rough road driving mode, the controller is further configured to disable an electronic stability control device. 10 . The vehicle of claim 1 , further comprising a display unit that displays operating states of the first limited slip differential and the second limited slip differential.

11. A method for controlling a vehicle, the method comprising: determining, by a controller, a driving mode of the vehicle; The control sensitivity of the drive motor and the control amounts of the first limited slip differential and the second limited slip differential are controlled by the controller according to the driving mode of the vehicle.

12. The method for controlling a vehicle according to claim 11, wherein: The driving modes include a normal driving mode, a snow road driving mode, a sand road driving mode, a muddy road driving mode and an uneven road driving mode.

13. The method for controlling a vehicle according to claim 12, further comprising: In response to the driving mode of the vehicle being the rough road driving mode, the controller reduces the control sensitivity of the drive motor operably connected to the controller and sets the clutch torque of the first limited slip differential and the second limited slip differential operably connected to the controller to the maximum torque.

14. The method for controlling a vehicle according to claim 13, wherein: The control sensitivity refers to the amount of change in the output of the drive motor according to the change in the accelerator pedal opening.

15. The method for controlling a vehicle according to claim 13, wherein: The control sensitivity in the rough road driving mode is set to be smaller than the control sensitivity in the muddy road driving mode, the control sensitivity in the normal driving mode, and the control sensitivity in the snow road driving mode.

16. The method for controlling a vehicle according to claim 13, wherein: The control sensitivity in the rough road driving mode is set to be greater than the control sensitivity in the muddy road driving mode, the control sensitivity in the normal driving mode, and the control sensitivity in the snowy road driving mode.

17. The method for controlling a vehicle according to claim 12, wherein: In response to the driving mode being the rough road driving mode, an electronic stability control device is turned off.

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