Patent ID: 8849537
Filing Date: 2014-09-30
Classification: B60K,B60W,Y02T

Abstract:
1. A vehicle control method using in-wheel motor, comprising: calculating, a controller, a steering angle, a wheel speed, a lateral G-Force, and a yaw rate to operate an electronic stability control system via the plurality of in-wheel motors, wherein steering angle is calculated by a sensor value output by a steering device, the wheel speed is calculated by a position sensor in an in-wheel motor of a plurality of in wheel motors, a lateral acceleration is calculated by a torque of a right wheel and left wheel of the vehicle, and a yaw rate is calculated by dividing the lateral acceleration by a vehicle speed; comparing, by the controller, the lateral G-Force with a predetermined lateral acceleration threshold; comparing, by the controller, a predetermined yaw rate control threshold with a difference between an actual yaw rate and a demand yaw rate that a driver demands according to the steering angle and the wheel speed; comparing, by the controller, the demand yaw rate and the actual yaw rate when the difference between the demand yaw rate and the actual yaw rate is larger than the yaw rate control threshold; generating, by the controller, a final torque value according to the difference between the demand yaw rate and the actual yaw rate; and controlling torque of the plurality of in-wheel motors based on the final torque value.