Straight driving device of in-wheel system and control method using the same

A straight driving device of an in-wheel system, the device comprising:

• a motor disposed in each wheel of a vehicle;
• an alignment measurement unit measuring a vehicle alignment to acquire a vehicle misalignment level;
• a yaw rate calculation unit calculating a yaw rate based on the vehicle misalignment level;
• a control unit controlling the motor to maintain straight moving of the vehicle by using vectoring when the yaw rate calculated by the yaw rate calculation unit is more than a predetermined allowable yaw rate;
• a steering angle calculation unit calculating an equivalent steering angle of each wheel based on the vehicle misalignment level and a deviation between left and right torques of the motors that is acquired while the vectoring is performed;
• and
• a determination unit determining whether each wheel is defective based on the equivalent steering angle.