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.
