{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
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  "description": "A vehicle control apparatus includes: a sensor configured to sense a current value and a voltage value applied to a motor of an actuator of an electronic parking brake (EPB) device; a controller configured to: estimate a speed value of the motor based on the sensed current value and the sensed…",
  "path": "/patents/1282065",
  "publishedAt": "2021-01-28T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T7/107",
    "MANDO CORPORATION"
  ],
  "textContent": "A vehicle control apparatus includes: a sensor configured to sense a current value and a voltage value applied to a motor of an actuator of an electronic parking brake (EPB) device; a controller configured to: estimate a speed value of the motor based on the sensed current value and the sensed voltage value; calculate a moving distance value of a spindle of the actuator based on the estimated speed value of the motor; estimate a position value of the spindle based on the calculated moving distance value of the spindle; estimate an EPB clamping force that acts on a brake disc of the EPB device based on the estimated position value of the spindle; calculate an EPB clamping force error compensation value between the estimated EPB clamping force value and a measured EPB clamping force value; and transmit, to the EPB device, a parking force compensation command on which the calculated EPB clamping force error compensation value is reflected to compensate for a parking force of the EPB device.",
  "title": "VEHICLE CONTROL APPARATUS AND VEHICLE CONTROL METHOD"
}