SYSTEM AND METHOD FOR CONTROLLING A VEHICLE USING IN-WHEEL SYSTEM
First Claim
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1. A method for controlling a vehicle using an in-wheel system which controls a motor mounted in each wheel of the vehicle, comprising:
- determining, by a control unit, a turning mode of the vehicle based on vehicle driving information;
calculating, by the control unit, a present Ackerman rate of the vehicle based on the determined turning mode;
generating, by the control unit, a control command based on the present Ackerman rate; and
controlling independently, by the control unit, the motor of each wheel using the control command, respectively.
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Abstract
Disclosed is a system and method for controlling a vehicle using an in-wheel system which controls a motor mounted in each wheel of the vehicle independently. More specifically, a control unit is configured to determine a turning mode of the vehicle based on vehicle driving information, calculate a present Ackerman rate of the vehicle based on the determined turning mode, generate a control command based on the present Ackerman rate, and control the motor of each wheel using the control command, independently.
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Citations
19 Claims
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1. A method for controlling a vehicle using an in-wheel system which controls a motor mounted in each wheel of the vehicle, comprising:
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determining, by a control unit, a turning mode of the vehicle based on vehicle driving information; calculating, by the control unit, a present Ackerman rate of the vehicle based on the determined turning mode; generating, by the control unit, a control command based on the present Ackerman rate; and controlling independently, by the control unit, the motor of each wheel using the control command, respectively. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A non-transitory computer readable medium containing program instructions executed by a control unit, the computer readable medium comprising:
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program instructions that determine a turning mode of the vehicle based on vehicle driving information; program instructions that calculate a present Ackerman rate of the vehicle based on the determined turning mode; program instructions that generate a control command based on the present Ackerman rate; and program instructions that independently control the motor of each wheel using the control command, respectively. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A system for controlling a vehicle using an in-wheel system which controls a motor mounted in each wheel of the vehicle, comprising:
a control unit configured to determine a turning mode of the vehicle based on vehicle driving information, calculate a present Ackerman rate of the vehicle based on the determined turning mode, generate a control command based on the present Ackerman rate, and independently control the motor of each wheel using the control command, respectively. - View Dependent Claims (16, 17, 18, 19)
Specification