# US 2018/0022230 A1 · Vehicle dynamics control in electric drive vehicles

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- Number: US 2018/0022230 A1
- Document ID: US20180022230A1
- Status: Published application
- Kind: A1
- Application number: 15/698,964
- Filed: 2017-09-08
- Published: 2018-01-25
- Earliest claimed: 2010-03-29
- Assignees: Wrightspeed, Inc.
- Applicants: Wrightspeed, Inc.
- Inventors: Ian Wright; Ryan Cash
- Web page: https://patentgrep.com/patent/US20180022230A1

## CPC

- B60L 15/20: for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L 3/102: {of individual wheels}
- B60L 15/2054: {by controlling transmissions or clutches}
- B60L 15/32: Control or regulation of multiple-unit electrically-propelled vehicles
- B60W 10/08: including control of electric propulsion units, e.g. motors or generators
- B60W 30/18172: {Preventing, or responsive to skidding of wheels}
- B60K 7/0007: {the motor being electric}
- B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles}
- B60L 2220/44: Wheel Hub motors, i.e. integrated in the wheel hub
- B60L 2220/46: Wheel motors, i.e. motor connected to only one wheel
- B60L 2240/461: Speed
- B60L 2240/465: Slip
- B60W 50/087: {where the control system corrects or modifies a request from the driver}
- B60W 2520/26: Wheel slip
- B60W 2720/26: Wheel slip
- Y02T 10/64: Electric machine technologies in electromobility
- Y02T 10/72: Electric energy management in electromobility
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

Embodiments of the invention are directed toward a geared traction drive system configured to drive a wheel of a vehicle, comprising: a driveshaft for transmitting power to the wheel; an electric drive motor for driving the driveshaft, the electric drive motor configured to receive signals from a vehicle dynamic control system to command a required speed; a gear reduction component for reducing the speed of the motor by a predetermined factor to a lower speed suitable for driving the wheel; and a drive electronics component that works with the electric drive motor to drive the wheel to the speed commanded by the vehicle dynamic control system.

## Claims

### Claim 1

A vehicle dynamics control system, comprising:
a first motor electrically coupled to a first drive electronics module,
the first motor coupled to a first wheel;
a second motor electrically coupled to a second electronics module,
the second motor coupled to a second wheel; and
a control processor configured to control the first electrical motor and the second electric motor by transmitting speed commands to the first electronics drive and the second electronics modules,
the transmitted speed commands determined by causing the control processor to:
receive velocity data from at least one sensor,
receive driver data from at least one driver input sensor,
generate a first wheel speed and a second wheel speed from the driver data and the velocity data,
determine a steering condition,
calculate in response to the velocity data and driver data, at least one front slip angle and at least one rear slip angle,
determine, using the at least one front slip angle and at least one rear slip angle, whether a current steering condition is understeering or oversteering in comparison with the determined steering condition,
calculate, in response to determining the current steering condition is understeering, a first calculated wheel speed and a second calculated wheel speeds, the first calculated wheel speed and the second calculated wheel speed being the speed at which each wheel is driven so as to decrease the at least one front slip angle or increase the at least one rear slip angle to achieve the optimal steering condition.