# US 8,788,150 B2 · System and method for controlling a vehicle using in-wheel system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,788,150 B2 - Document ID: US8788150B2 - Status: Granted - Kind: B2 - Application number: 13/534,896 - Filed: 2012-06-27 - Published: 2013-05-02 - Granted: 2014-07-22 - Earliest claimed: 2011-10-31 - Assignees: Hyundai Motor Company - Applicants: Sungwook Hwang - Inventors: Sungwook Hwang - Web page: https://patentgrep.com/patent/US8788150B2 ## CPC - 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 2240/12: Speed - B60L 2240/20: angular - B60L 2240/24: Steering angle - B60L 2240/421: Speed - 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 - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## 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 ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 2) 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. ### Claim 4 (depends on 1) 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. ### Claim 5 (depends on 4) 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. ### Claim 6 (depends on 1) 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. ### Claim 7 (depends on 1) 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. ### Claim 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. ### Claim 9 (depends on 8) 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. ### Claim 10 (depends on 9) 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. ### Claim 11 (depends on 8) 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. ### Claim 12 (depends on 11) 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. ### Claim 13 (depends on 8) 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. ### Claim 14 (depends on 8) 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. ### Claim 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. ### Claim 16 (depends on 15) 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. ### Claim 17 (depends on 15) 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. ### Claim 18 (depends on 15) 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. ### Claim 19 (depends on 16) 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.