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In electric vehicles that use in-wheel motors, the right and left traction forces become unbalanced if a motor malfunctions by motor lock or loss of traction, generating yaw moment. Control methods were designed to reduce this effect by stopping the motor output on the opposite side of the same axle. By using a prototype “Eliica” car, the maximum yaw rate and lateral acceleration were compared for a breakdown of one motor with the results from the “Sensitivity to lateral wind” indicated in Z108-76 of the Japanese Automobile Standards Organization. Under redundancy control, the test results were confirmed to be below the tolerance limits

Advanced Redundancy Technology for a Drive System Using In-Wheel Motors