In-Wheel Torque Vectoring for Straight Driving Under Misalignment
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Solution Overview
Problem
In-wheel systems face challenges in maintaining straight driving without driver intervention, particularly in vehicles without regular servicing, such as shared or autonomous vehicles, due to difficulties in detecting vehicle alignment and applying torque vectoring effectively.
Innovation Solution
A straight driving device and method for in-wheel systems that includes an alignment measurement unit, yaw rate calculation, control unit, steering angle calculation, and determination unit to maintain straight movement by torque vectoring and provide compensation torques, with an alarm for defective wheels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If torque vectoring is used to maintain straight driving in in-wheel systems, then straight driving stability is improved, but device complexity increases due to alignment measurement units and control systems
Solution Approach 1:
The system automatically detects alignment status through the alignment measurement unit and self-corrects straight driving deviations by independently controlling torque to each wheel via the control unit, eliminating the need for manual alignment checks and corrections by service personnel
Solution Approach 2:
The alignment measurement unit continuously monitors vehicle alignment status and provides feedback to the control unit, which adjusts torque distribution to counteract detected misalignment, creating a closed-loop control system that maintains straight driving stability
2Measurement precision
If regular alignment servicing is performed, then measurement precision is improved, but loss of time increases due to vehicle downtime
Solution Approach 1:
The alignment measurement unit operates continuously during vehicle operation to monitor alignment status, and the control unit continuously adjusts torque distribution to maintain straight driving, eliminating the need for periodic vehicle downtime for alignment servicing
Solution Approach 2:
The system performs self-diagnosis of alignment status and self-correction of straight driving deviations through automated torque vectoring, allowing vehicles to operate continuously without requiring scheduled alignment maintenance interventions
Data Source
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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.