Patent ID: 7386379
Filing Date: 2008-06-10
Classification: B60K,B60L,B60T,B60W

Abstract:
1. Method to control a vehicle equipped with a plurality of individual wheel motors, a steering system, and yaw-rate detection, comprising: determining a commanded steering angle; identifying at least one inner motored wheel and at least one outer motored wheel, based upon the commanded steering angle; determining a yaw-rate error; calculating a desired wheel motor yaw moment based on a linear range of torque control of the wheel motors; calculating a first torque for each of the inner motored wheels and calculating a second torque for each of the outer motored wheels, said first and second torques being calculated based on the desired wheel motor yaw moment; calculating a first ideal wheel speed for each of the inner motored wheels and calculating a second ideal wheel speed for each of the outer wheels; and, controlling torque and speed of each of the inner motored wheels and each of the outer motored wheels, based upon the yaw-rate error, the first and second torques, and the first and second ideal wheel speeds.