In-Wheel Torque Vectoring for Straight Driving and Wheel Fault Detection
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Solution Overview
Problem
In-wheel systems face challenges in maintaining straight driving without human intervention, particularly in vehicles without regular driver input, such as shared or autonomous vehicles, due to difficulties in detecting vehicle alignment and applying torque vectoring to prevent misalignment.
Innovation Solution
A control method and device that utilize an in-wheel system to measure vehicle alignment, calculate yaw rate, apply torque vectoring to maintain straight movement, and determine wheel defects by analyzing equivalent steering angles, with optional user input for compensation torque when alignment cannot be measured.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If torque vectoring is applied to maintain straight driving, then vehicle stability is improved, but device complexity increases due to independent motor control requirements
Solution Approach 1:
The in-wheel motor system performs self-alignment by automatically detecting vehicle inclination through torque sensing and independently adjusting torque distribution to each wheel, enabling the vehicle to self-correct alignment issues without external intervention or complex additional alignment devices
Solution Approach 2:
The system continuously monitors vehicle inclination status through torque sensing and uses this feedback to dynamically adjust torque vectoring commands, creating a closed-loop control system that maintains straight driving by comparing actual alignment with desired alignment and correcting deviations in real-time
2Manufacturing precision
If regular alignment service is required to maintain straight driving, then manufacturing precision is improved, but loss of time increases due to service interruptions
Solution Approach 1:
The system eliminates the need for regular professional alignment services by enabling the vehicle to continuously self-monitor and self-correct its alignment status through torque vectoring, allowing alignment maintenance to occur during normal operation without requiring vehicle downtime or service center visits
Solution Approach 2:
The alignment monitoring and correction function operates continuously during vehicle operation, ensuring that straight driving capability is maintained at all times rather than being periodically restored through intermittent service events, thereby eliminating service-related interruptions
3Ease of operation
If torque vectoring is used for straight driving control, then ease of operation is improved, but device complexity increases due to additional control systems
Solution Approach 1:
The in-wheel motor system serves multiple functions: it provides primary propulsion, enables torque vectoring for dynamic control, performs straight driving alignment maintenance, and detects wheel defects, thereby consolidating multiple control functions into a single versatile system rather than requiring separate dedicated systems for each function
Solution Approach 2:
The system automatically detects vehicle inclination and calculates appropriate torque corrections without requiring driver input or manual alignment adjustments, making the straight driving control fully autonomous and eliminating the need for complex user interfaces or manual intervention mechanisms
Data Source
AI summary
A control method for straight driving of an in-wheel system includes: a) measuring a vehicle alignment; b) calculating a yaw rate based on a vehicle misalignment level; c) determining whether the yaw rate calculated in the step b) is more than a predetermined allowable yaw rate; d) maintaining straight moving of the vehicle by using vectoring when the yaw rate calculated in the step b) is more than the predetermined allowable yaw rate; e) calculating an equivalent steering angle of each wheel based on the vehicle misalignment level and a deviation between left and right torques of motors that is acquired while the vectoring is performed; and f) determining whether each wheel is defective based on the equivalent steering angle.