Method of controlling driving of a vehicle using an in-wheel system

1. A method of controlling driving of a vehicle using an in-wheel system, the method comprising:

determining whether the vehicle enters a steering avoidance section, based on driving information of the vehicle;

verifying a detailed section in the steering avoidance section when the vehicle enters the steering avoidance section; and

controlling torque of a motor mounted in each wheel to satisfy a yaw moment required in the verified detailed section,

Wherein the determining of whether the vehicle enters the steering avoidance section includes:

determining whether the vehicle enters the steering avoidance section, based on at least one of a yaw rate, a lateral acceleration, a vehicle speed, a steering angle, or a steering wheel angular velocity,

Wherein the verifying of the detailed section includes:

determining that a current section of the vehicle is a first steering section, if a yaw rate error exceeds a first threshold value, determining that the current section of the vehicle is a second steering section, if a time period in which the yaw rate error is greater than a seventh threshold value, which is greater than the first threshold value, is maintained for a critical time or if the yaw rate error greater than the seventh threshold value continuously increases for the critical time, and

determining that the current section of the vehicle is a third steering section, if a time period in which the yaw rate error is greater than an eighth threshold value, which is greater than the seventh threshold value, is maintained for the critical time or if the yaw rate error greater than the eighth threshold value continuously increases for the critical time.

2. The method of claim 1 , wherein the determining of whether the vehicle enters the steering avoidance section includes:

determining that the vehicle enters the steering avoidance section, if

a difference between the yaw rate and a reference value of the yaw rate exceeds a first threshold value, wherein the difference between the yaw rate and the reference value of the yaw rate is yaw rate error,

the lateral acceleration exceeds a second threshold value, wherein the second threshold value is obtained by multiplying the yaw rate error and the lateral acceleration where the lateral acceleration exceeds ‘0’,

the vehicle speed exceeds a third threshold value,

a differential value of the lateral acceleration exceeds a fourth threshold value,

the steering angle exceeds a fifth threshold value, and

the steering wheel angular velocity exceeds a sixth threshold value.

3. The method of claim 1 , wherein the controlling of the torque of the motor in the first steering section includes:

maintaining a driving force of a cornering-inside front wheel and maintaining driving force of each of a cornering-outside front wheel and a cornering-outside rear wheel; and

generating a braking force of a motor mounted in a cornering-inside rear wheel.

4. The method of claim 1 , wherein the controlling of the torque of the motor in the second steering section includes:

maintaining driving force of each of a cornering-outside front wheel and a cornering-outside rear wheel; and

generating a braking force of a motor mounted in a cornering-inside front wheel and a braking force of a motor mounted in a cornering-inside rear wheel.

5. The method of claim 4 , wherein the braking force of the motor mounted in the cornering-inside front wheel is less than the braking force of the motor mounted in the cornering-inside rear wheel.

6. The method of claim 1 , wherein the controlling of the torque of the motor in the third steering section includes:

decreasing a driving force of a motor mounted in a cornering-outside front wheel;

increasing a driving force of a motor mounted in a cornering-outside rear wheel; and

generating a braking force of a motor mounted in a cornering-inside front wheel and a braking force of a motor mounted in a cornering-inside rear wheel.

7. The method of claim 6 , wherein the braking force of the motor mounted in the cornering-inside front wheel is less than the braking force of the motor mounted in the cornering-inside rear wheel.

8. The method of claim 1 , further comprising:

stabilizing movement of the vehicle after the controlling of the torque of the motor.

9. The method of claim 8 , wherein the stabilizing of the movement includes:

performing movement stabilization of the vehicle if a lateral acceleration of the vehicle is less than a ninth threshold value and the yaw rate error is greater than a tenth threshold value or if a roll angle is greater than an eleventh threshold value.

10. The method of claim 9 , wherein the stabilizing of the movement includes:

maintaining a driving force of each of a motor mounted in a cornering-inside front wheel of the vehicle and a motor mounted in a cornering-inside rear wheel of the vehicle;

maintaining a driving force of a motor mounted in a cornering-outside rear wheel of the vehicle; and

generating a braking force of a motor mounted in a cornering-outside front wheel of the vehicle.

11. The method of claim 8 , wherein the stabilizing of the movement includes:

performing movement stabilization of the vehicle if a lateral acceleration of the vehicle is less than a ninth threshold value and a slip angle of the vehicle is greater than a twelfth threshold value.

12. The method of claim 11 , wherein the stabilizing of the movement includes:

maintaining a driving force of each of a motor mounted in a cornering-inside front wheel of the vehicle and a motor mounted in a cornering-inside rear wheel of the vehicle; and

generating a braking force of each of a motor mounted in a cornering-outside front wheel of the vehicle and a motor mounted in a cornering-outside rear wheel of the vehicle.

13. A method of controlling driving of a vehicle using an in-wheel system, the method comprising:

determining whether the vehicle enters a steering avoidance section, based on driving information of the vehicle;

verifying a detailed section in the steering avoidance section when the vehicle enters the steering avoidance section;

controlling torque of a motor mounted in each wheel to satisfy a yaw moment required in the verified detailed section; and

stabilizing movement of the vehicle after the controlling of the torque of the motor,

wherein the stabilizing of the movement includes

performing movement stabilization of the vehicle if a lateral acceleration of the vehicle is less than a ninth threshold value and the yaw rate error is greater than a tenth threshold value or if a roll angle is greater than an eleventh threshold value,

maintaining a driving force of each of a motor mounted in a cornering-inside front wheel of the vehicle and a motor mounted in a cornering-inside rear wheel of the vehicle,

maintaining a driving force of a motor mounted in a cornering-outside rear wheel of the vehicle, and

generating a braking force of a motor mounted in a cornering-outside front wheel of the vehicle.

14. A method of controlling driving of a vehicle using an in-wheel system, the method comprising:

determining whether the vehicle enters a steering avoidance section, based on driving information of the vehicle;

verifying a detailed section in the steering avoidance section when the vehicle enters the steering avoidance section;

controlling torque of a motor mounted in each wheel to satisfy a yaw moment required in the verified detailed section; and

stabilizing movement of the vehicle after the controlling of the torque of the motor,

wherein the stabilizing of the movement includes

performing movement stabilization of the vehicle if a lateral acceleration of the vehicle is less than a ninth threshold value and a slip angle of the vehicle is greater than a twelfth threshold value,

maintaining a driving force of each of a motor mounted in a cornering-inside front wheel of the vehicle and a motor mounted in a cornering-inside rear wheel of the vehicle, and

generating a braking force of each of a motor mounted in a cornering-outside front wheel of the vehicle and a motor mounted in a cornering-outside rear wheel of the vehicle.