System and method for controlling a vehicle using in-wheel system

• US 8,788,150 B2
• Filed: 06/27/2012
• Issued: 07/22/2014
• Est. Priority Date: 10/31/2011
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Hwang, Sungwook
• Primary Examiner(s): Khatib, Rami
• Application Number:
  US13/534,896
• Publication Number:
  US 20130110332A1
• Time in Patent Office: 755 Days
• Field of Search: 701/1, 701/36, 701/41, 701/42, 701/43, 701/44, 180/408, 180/411, 180/412, 180/413, 180/443, 280/5.51, 340/465, 116/31
• US Class Current: 701/41
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2220/44 Wheel Hub motors, i.e. integrated in the wheel hub
• CPC Class Codes: B60L 2240/12 Speed
• CPC Class Codes: B60L 2240/20 angular
• CPC Class Codes: B60L 2240/24 Steering angle
• CPC Class Codes: B60L 2240/421 Speed
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility

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.

Claims

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.

2. The method of claim 1, wherein the control command is generated by comparing a present yaw rate of the vehicle with a target yaw rate depending on the present Ackerman rate of the vehicle when the turning mode is in a first mode.

3. The method of claim 2, wherein the target yaw rate is calculated based on at least one of the present Ackerman rate of the vehicle, a steering angle, and a vehicle speed.

4. The method of claim 1, wherein the control command is generated by calculating a minimum turning radius of the present Ackerman rate and comparing the minimum turning radius of the present Ackerman rate with a minimum turning radius of a 100% Ackerman rate when the turning mode is in a second mode.

5. The method of claim 4, wherein the minimum turning radius of the present Ackerman rate is calculated based on at least one of a rack-pinion steering gear ratio, a tire angle, a steering angle, and data of the vehicle.

6. The method of claim 1, wherein the vehicle driving information includes at least one of a steering angle, a steering angular speed, a vehicle speed, and a yaw rate.

7. The method of claim 1, wherein the present Ackerman rate is calculated based on at least one of a rack-pinion steering gear ratio, a tire angle, a steering angle, and data of the vehicle.

8. A non-transitory computer readable medium containing program instructions executed by a control unit, the computer readable medium comprising:

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.

9. The non-transitory computer readable medium of claim 8, wherein the control command is generated by comparing a present yaw rate of the vehicle with a target yaw rate depending on the present Ackerman rate of the vehicle when the turning mode is in a first mode.

10. The non-transitory computer readable medium of claim 9, wherein the target yaw rate is calculated based on at least one of the present Ackerman rate of the vehicle, a steering angle, and a vehicle speed.

11. The non-transitory computer readable medium of claim 8, wherein the control command is generated by calculating a minimum turning radius of the present Ackerman rate and comparing the minimum turning radius of the present Ackerman rate with a minimum turning radius of a 100% Ackerman rate when the turning mode is in a second mode.

12. The non-transitory computer readable medium of claim 11, wherein the minimum turning radius of the present Ackerman rate is calculated based on at least one of a rack-pinion steering gear ratio, a tire angle, a steering angle, and data of the vehicle.

13. The non-transitory computer readable medium of claim 8, wherein the vehicle driving information includes at least one of a steering angle, a steering angular speed, a vehicle speed, and a yaw rate.

14. The non-transitory computer readable medium of claim 8, wherein the present Ackerman rate is calculated based on at least one of a rack-pinion steering gear ratio, a tire angle, a steering angle, and data of the vehicle.

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.

16. The system of claim 15, wherein the control command is generated by comparing a present yaw rate of the vehicle with a target yaw rate depending on the present Ackerman rate of the vehicle when the turning mode is in a first mode.

17. The system of claim 15, wherein the control command is generated by calculating a minimum turning radius of the present Ackerman rate and comparing the minimum turning radius of the present Ackerman rate with a minimum turning radius of a 100% Ackerman rate when the turning mode is in a second mode.

18. The system of claim 15, wherein the vehicle driving information includes at least one of a steering angle, a steering angular speed, a vehicle speed, and a yaw rate, and the present Ackerman rate is calculated based on at least one of a rack-pinion

steering gear ratio, a tire angle, a steering angle, and data of the vehicle.

19. The system of claim 16, wherein the target yaw rate is calculated based on at least one of the present Ackerman rate of the vehicle, a steering angle, and a vehicle speed, and the minimum turning radius of the present Ackerman rate is calculated based on at least one of a rack-pinion steering gear ratio, a tire angle, a steering angle, and data of the vehicle.