Vehicle equipped with electric motor and stability control method therefor

1. A method of controlling stability of a motorized vehicle having an electric motor as a drive source, the method comprising:

determining a slope of a road ahead;

determining a sudden slope change point comprising a point where a sign of the slope changes or a point where the slope changes by a predetermined amount as a result of the determination of the slope of the road;

determining a correction section along the road based on the sudden slope change point, the correction section comprising a section before the sudden slope change point on the road; and

correcting a stability control torque in the correction section to compensate for motion of a vehicle body due to a change in the slope of the road using a pitching motion of the vehicle body caused by a torque of the electric motor,

wherein determining the correction section comprises:

determining the sudden slope change point based on slope information of a navigation system;

setting a reference point ahead of the sudden slope change point based on a resolution of the slope information; and

setting the correction section based on the reference point.

2. The method according to claim 1 , wherein setting the reference point comprises:

setting the reference point ahead of the sudden slope change point at a distance corresponding to the resolution.

3. The method according to claim 1 , wherein determining the correction section further comprises:

correcting the reference point based on at least one of acceleration sensor information, information on whether a preceding vehicle is sensed, or information on whether a lane disappears.

4. The method according to claim 3 , wherein setting the correction section based on the reference point comprises:

when the reference point is corrected, setting the correction section based on the corrected reference point.

5. The method according to claim 1 , wherein, when a slope at the sudden slope change point changes from an uphill slope to a downhill slope, correcting the stability control torque comprises:

lowering an upper limit of the stability control torque; or

applying a negative linear torque offset to the stability control torque.

6. The method according to claim 1 , wherein, when a slope at the sudden slope change point changes from an uphill slope to a downhill slope, correcting the stability control torque comprises:

increasing a coasting torque; or

enhancing an up-rate limit of torque increment according to operation of an accelerator pedal.

7. The method according to claim 1 , wherein, when a slope at the sudden slope change point changes from a downhill slope to an uphill slope, correcting the stability control torque comprises:

increasing a lower limit of the stability control torque; or

applying a positive linear torque offset to the stability control torque.

8. The method according to claim 1 , wherein, when a slope at the sudden slope change point changes from a downhill slope to an uphill slope, correcting the stability control torque comprises:

decreasing a coasting torque; or

enhancing a down-rate limit of torque decrement according to operation of an accelerator pedal.

9. A non-transitory computer-readable recoding medium having a program recorded thereon, the program to direct a processor to perform acts of:

determining a slope of a road ahead;

determining a sudden slope change point comprising a point where a sign of the slope changes or a point where the slope changes by a predetermined amount as a result of the determination of the slope of the road;

determining a correction section along the road based on the sudden slope change point, the correction section comprising a section before the sudden slop change point on the road; and

correcting a stability control torque in the correction section to compensate for motion of a vehicle body due to a change in the slope of the road using a pitching motion of the vehicle body caused by a torque of an electric motor,

wherein determining the correction section comprises:

determining the sudden slope change point based on slope information of a navigation system;

setting a reference point ahead of the sudden slope change point based on a resolution of the slope information; and

setting the correction section based on the reference point.

10. A motorized vehicle comprising:

an electric motor;

a first controller configured to control the electric motor; and

a second controller configured to:

determine a slope of a road ahead;

determine a sudden slope change point comprising a point where a sign of the slope changes or a point where the slope changes by a predetermined amount as a result of the determination of the slope of the road;

determine a correction section along the road based on the sudden slope change point, the correction section comprising a section before the sudden slope change point on the road;

correct a stability control torque in the correction section to compensate for motion of a vehicle body due to a change in the slope of the road using a pitching motion of the vehicle body caused by a torque of the electric motor; and

transmit, to the first controller, a torque command to which the corrected stability control torque is applied,

wherein the second controller is configured to:

determine the sudden slope change point based on slope information of a navigation system;

set a reference point ahead of the sudden slope change point based on a resolution of the slope information; and

set the correction section based on the reference point.

11. The motorized vehicle according to claim 10 , wherein the second controller is configured to:

set the reference point ahead of the sudden slope change point at a distance corresponding to the resolution.

12. The motorized vehicle according to claim 10 , wherein the second controller is configured to:

correct the reference point based on at least one of acceleration sensor information, information on whether a preceding vehicle is sensed, or information on whether a lane vanishes.

13. The motorized vehicle according to claim 12 , wherein, when the reference point is corrected, the second controller is configured to:

set the correction section based on the corrected reference point.

14. The motorized vehicle according to claim 10 , wherein, when a slope at the sudden slope change point changes from an uphill slope to a downhill slope, the second controller is configured to:

lower an upper limit of the stability control torque; or

apply a negative linear torque offset to the stability control torque.

15. The motorized vehicle according to claim 10 , wherein, when a slope at the sudden slope change point changes from an uphill slope to a downhill slope, the second controller is configured to:

increase a coasting torque; or

enhance an up-rate limit of torque increment according to operation of an accelerator pedal.

16. The motorized vehicle according to claim 10 , wherein, when a slope at the sudden slope change point changes from a downhill slope to an uphill slope, the second controller is configured to:

increase a lower limit of the stability control torque; or

apply a positive linear torque offset to the stability control torque.

17. The motorized vehicle according to claim 10 , wherein, when a slope at the sudden slope change point changes from a downhill slope to an uphill slope, the second controller is configured to:

decrease a coasting torque; or

enhance a down-rate limit of torque decrement according to operation of an accelerator pedal.