US 12,366,861 B2
Corner module apparatus for vehicle
Kyongwon Min, Yongin-si (KR)
Assigned to Hyundai Mobis Co., Ltd., Seoul (KR)
Filed by HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed on Nov. 21, 2022, as Appl. No. 17/991,014.
Claims priority of application No. 10-2021-0162191 (KR), filed on Nov. 23, 2021; and application No. 10-2021-0188608 (KR), filed on Dec. 27, 2021.
Prior Publication US 2023/0161349 A1, May 25, 2023
Int. Cl. B60K 1/02 (2006.01); B60G 3/00 (2006.01); B60K 7/00 (2006.01); B62D 5/04 (2006.01); B62D 7/08 (2006.01); B62D 7/15 (2006.01); B62D 9/00 (2006.01); G05D 1/00 (2006.01)
CPC G05D 1/0212 (2013.01) [B60G 3/00 (2013.01); B60K 1/02 (2013.01); B60K 7/0007 (2013.01); B62D 5/0418 (2013.01); B62D 7/08 (2013.01); B62D 7/1509 (2013.01); B62D 9/00 (2013.01); B60K 2007/0038 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A corner module apparatus for a vehicle, the corner module apparatus comprising:
one or more processors configured to
obtain a steering angle, and
obtain a lever ratio indicating whether a front wheel and a rear wheel of a bicycle model defined with respect to a vehicle are inphase or reverse-phased and indicating a steering angle ratio; and
a controller configured to
calculate a front wheel heading angle of the bicycle model from the steering angle,
calculate a rear wheel heading angle of the bicycle model based on the calculated front wheel heading angle and the lever ratio,
calculate first to fourth target angles of a left front wheel, a right front wheel, a left rear wheel, and a right rear wheel of the vehicle by expanding the bicycle model to a four-wheel vehicle model, and
independently control steering of each of the four wheels of the vehicle by using the calculated first to fourth target angles,
wherein the calculation of the first to fourth target angles is determined in differentiated ways based on a value of the lever ratio.