US 12,221,184 B2
Apparatus for four-wheel independent steering and method of controlling same
Tae Hong Kim, Yongin-si (KR)
Assigned to HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed by HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed on Jul. 7, 2022, as Appl. No. 17/811,157.
Claims priority of application No. 10-2021-0178573 (KR), filed on Dec. 14, 2021.
Prior Publication US 2023/0182811 A1, Jun. 15, 2023
Int. Cl. B62D 7/15 (2006.01); B62D 6/00 (2006.01)
CPC B62D 7/159 (2013.01) [B62D 6/003 (2013.01); B62D 7/1545 (2013.01)] 6 Claims
OG exemplary drawing
 
1. An apparatus for four-wheel independent steering, comprising:
a rear wheel angle computation unit configured to compute an error amount of a yaw rate by comparing an actual yaw rate feedback with a predetermined target yaw rate and then compute a corrected rear wheel angle by multiplying a predetermined front/rear wheel angle ratio by a gain being used to correct the error amount; and
a control unit configured to perform rear wheel steering control based on the front wheel angle and the corrected rear wheel angle.