Method for controlling fine tuning steering of independent steering device

Abstract

A method of controlling fine steering of an independent steering apparatus of a vehicle includes: determining, by a controller, a parallel mode input; when the controller receives the parallel mode input, rotation of the independent steering device is performed, and a movement direction of the vehicle is determined by the controller in response to a rotation direction of the steering wheel. The method further includes determining, by the controller, whether the vehicle enters a fine steering mode after determining the direction of movement of the vehicle; and executing, by the controller, a steering angle input to an independent steering device located at a front end in the moving direction of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to a method for controlling fine steering of independent steering devices. In particular, the present disclosure relates to a method for controlling fine steering of independent steering devices which are respectively coupled to a vehicle body and are independently controlled when the independent steering devices are driven in a parallel mode. Background Art

[0002] A conventional steering device for a vehicle includes a drop arm mounted on an output shaft of a steering gear and rotating, a tie rod configured to transmit movement of the drop arm to a knuckle arm, a knuckle arm configured to receive movement of the tie rod and operate a knuckle shaft, and a tie rod configured to connect left and right knuckle arms.

[0003] With this configuration, a vehicle turning environment is provided by coupling a steering angle input to the steering knuckles of the front wheels of the vehicle by rotating the output shaft of the steering gear in response to an input to the steering wheel.

[0004] Recently, independent steering devices have been developed, each of which performs input of a steering angle on a corresponding wheel of a vehicle through each suspension device or a motor assembly coupled to a vehicle body, and each corner module may be modularized and coupled to a vehicle body frame.

[0005] Each of the independent steering devices coupled to the vehicle body may be controlled to perform parallel movement based on the longitudinal direction of the vehicle body.

[0006] However, even when the vehicle body is moved in the parallel direction by the independent steering device in the parallel mode, fine steering for adjusting the moving space and moving direction of the vehicle body is basically required.

[0007] The above information disclosed in this Background section is provided only for enhancement of understanding of the background of the present disclosure and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art. Summary of the invention

[0008] The present disclosure is directed to solving the above problems associated with the prior art. The present disclosure provides a method for controlling fine-tuning steering of an independent steering device of a vehicle so that the independent steering device can fine-tune steering when the vehicle is driven in parallel mode.

[0009] The present disclosure also provides a method for controlling fine steering of an independent steering device based on an input value of a steering wheel (whether the input value is a value corresponding to a simple parallel mode or fine steering input) and a user request.

[0010] In one embodiment of the present disclosure, a method for controlling fine steering of an independent steering device for a vehicle includes: determining a parallel mode input by a controller; performing rotation of the independent steering device when the controller receives the parallel mode input; and determining a moving direction of the vehicle by the controller in response to the rotation direction of the steering wheel. The method also includes: determining by the controller whether the vehicle enters a fine steering mode after setting the moving direction of the vehicle; and performing a steering angle input to the independent steering device located at the front end in the moving direction of the vehicle by the controller.

[0011] In one embodiment, determining the moving direction of the vehicle in response to the rotation direction of the steering wheel may include determining, by the controller, whether a rotation angle equal to or greater than a first setting angle is applied to the steering wheel.

[0012] In another embodiment, determining whether the vehicle enters the fine-tuning steering mode after setting the vehicle's moving direction may include: determining whether the steering wheel returns to below a second setting angle after a rotation angle equal to or greater than a first setting angle is applied to the steering wheel; and determining that the vehicle enters the fine-tuning steering mode when additional steering input is applied to the steering wheel after the steering wheel returns to below the second setting angle.

[0013] In yet another embodiment, the independent steering device may maintain the parallel mode upon determining that the steering wheel has not returned below the second set angle after applying a rotation angle equal to or greater than the first set angle to the steering wheel.

[0014] In yet another embodiment, the independent steering device may maintain the parallel mode upon determining that no additional steering input is applied to the steering wheel after the steering wheel returns below the second set angle.

[0015] In yet another embodiment, determining that the vehicle enters the fine steering mode may include performing fine steering of at least one of the independent steering devices located at an end facing the direction of movement in response to an additional input to the steering wheel.

[0016] In further embodiments, in performing the rotation of the independent steering device when the controller receives the parallel mode input, the controller may control the independent steering device to have a steering angle corresponding to a direction perpendicular to the longitudinal direction of the vehicle.

[0017] In another aspect of the present disclosure, a method for controlling fine-steering of an independent steering device of a vehicle includes: determining a parallel mode input by a controller; executing rotation of the independent steering device when the controller receives the parallel mode input; determining a moving direction of the vehicle by the controller in response to a rotation direction of a steering wheel of the vehicle; and determining by the controller whether the vehicle enters a fine-steering mode after setting the moving direction of the vehicle. The method also includes: determining by the controller whether to apply an additional input to the steering wheel once it is determined that the vehicle enters the fine-steering mode; and executing a steering angle input to the independent steering device located at a front end in the moving direction of the vehicle by the controller in response to the additional input to the steering wheel after the vehicle enters the fine-steering mode.

[0018] In one embodiment, determining the moving direction of the vehicle in response to the rotation direction of the steering wheel may include determining, by the controller, whether a rotation angle equal to or greater than a first setting angle is applied to the steering wheel.

[0019] In another embodiment, determining whether the vehicle enters the fine-tuning steering mode after setting the vehicle's moving direction may include: determining whether the steering wheel returns to below a second setting angle after a rotation angle equal to or greater than a first setting angle is applied to the steering wheel; and determining that the vehicle enters the fine-tuning steering mode when additional steering input is applied to the steering wheel after the steering wheel returns to below the second setting angle.

[0020] In yet another embodiment, the independent steering device may maintain the parallel mode upon determining that the steering wheel has not returned below the second set angle after applying a rotation angle equal to or greater than the first set angle to the steering wheel.

[0021] In yet another embodiment, the independent steering device may maintain the parallel mode upon determining that no additional steering input is applied to the steering wheel after the steering wheel returns below the second set angle.

[0022] In yet another embodiment, determining that the vehicle enters the fine steering mode may include performing fine steering of at least one independent steering device located at one end facing the direction of movement in response to additional input to the steering wheel.

[0023] In further embodiments, in performing the rotation of the independent steering device when the controller receives the parallel mode input, the controller may control the independent steering device to have a steering angle corresponding to a direction perpendicular to the longitudinal direction of the vehicle.

[0024] Other aspects and embodiments of the disclosure are discussed below.

[0025] The above and other features of the present disclosure are discussed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The above and other features of the present disclosure are described in detail with reference to certain embodiments of the present disclosure illustrated in the accompanying drawings, which are given hereinafter by way of illustration only and therefore do not limit the present disclosure, wherein:

[0027] Figure 1 A view showing an alignment relationship in an independent steering device when the independent steering device is driven in a parallel mode according to an embodiment of the present disclosure;

[0028] Figure 2 A view showing a process of performing fine-tuning steering of an independent steering device when the independent steering device is driven in a parallel mode according to an embodiment of the present disclosure;

[0029] Figure 3 A flowchart for explaining a method for controlling fine-tuning steering of an independent steering device when the independent steering device is driven in a parallel mode according to one embodiment of the present disclosure; and

[0030] Figure 4 The flowchart is for explaining a method for determining whether a vehicle enters a fine steering mode of an independent steering device when the independent steering device is driven in a parallel mode according to one embodiment of the present disclosure.

[0031] It should be understood that the drawings are not necessarily drawn to scale, presenting somewhat simplified representations of various features illustrating the basic principles of the present disclosure. The specific design features of the present disclosure disclosed herein, including, for example, specific dimensions, orientations, locations, and shapes, should be determined in part by the specific intended application and use environment.

[0032] In the drawings, reference numbers refer to the same or equivalent parts of the present disclosure throughout the several figures of the drawing. DETAILED DESCRIPTION

[0033] Hereinafter, reference is made in detail to various embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings and described below. The present disclosure is not limited to the following embodiments, and these embodiments may be implemented in various different forms. These embodiments are provided to make the description of the present disclosure thorough and to fully convey the scope of the present disclosure to those of ordinary skill in the art.

[0034] In addition, in the description of the following embodiments, it should be understood that suffixes "component", "unit", "module" etc. indicate units for processing at least one function or operation, and can be implemented as software, hardware, or a combination of software and hardware.

[0035] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting.As used herein, a singular expression may also be intended to include the plural expression unless the context clearly indicates otherwise.

[0036] The controller 20 described below can be implemented by a memory and a processor, the memory being configured to store: an algorithm configured to control the operation of various elements arranged in the vehicle, or data about a program for reproducing the algorithm, and the processor being configured to use the data stored in the memory to perform the operations described below. In this article, the memory and the processor may be implemented as separate chips. Alternatively, the memory and the processor may be implemented as a single integrated chip. For example, the controller 20 may include: at least one of an electronic control unit (ECU), a central processing unit (CPU), a microprocessor unit (MPU), a microcontroller unit (MCU), an application processor (AP), or any type of processor known in the field of the present disclosure. In addition, the processor 20 may include: a combination of software and hardware that is capable of performing calculations in at least one application or program for implementing the method according to an embodiment of the present disclosure.

[0037] In one embodiment of the present disclosure, the independent steering device 10 is configured to couple the corresponding wheels to the vehicle body, and the steering angle can be independently applied to one independent steering device 10 including one wheel by the controller 20. In addition, the independent steering device 10 according to the present disclosure can be rotated by an angle exceeding 90 degrees from the longitudinal direction of the vehicle.

[0038] In addition, in the following description of the present disclosure, the “front end” may indicate one end of a front surface of a vehicle based on a moving direction of the vehicle, and the “rear end” may indicate one end of a rear surface of the vehicle based on the moving direction of the vehicle.

[0039] In addition, in one embodiment of the present disclosure, "parallel mode" indicates a state in which the same steering angle is applied to the corresponding independent steering devices 10 so that the independent steering devices 10 have a specified angle with the longitudinal direction of the vehicle, and in the following description of the present disclosure, "parallel mode" indicates a state in which the input steering angle is perpendicular to the longitudinal direction of the vehicle.

[0040] Furthermore, in the present disclosure, a “fine steering mode” indicates a driving mode in which a steering angle is input to the independent steering device 10 to the left or right from the driving direction of the vehicle in the parallel mode.

[0041] Hereinafter, reference will be made in detail to embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings and described below. Wherever possible, the same reference numerals are used throughout the drawings to refer to the same or like parts, and redundant description thereof is omitted.

[0042] The present disclosure relates to a method for controlling fine-tuning steering of an independent steering device 10, and in particular to a method for controlling fine-tuning steering of an independent steering device 10 in which each independent steering device is connected to a vehicle body and configured to input a steering angle to a corresponding wheel when the independent steering device 10 is driven in a parallel mode.

[0043] In other words, the controller 20 provides processing for determining whether the vehicle enters parallel mode and determining whether to apply fine-tuning steering input when the independent steering device 10 is driven in parallel mode, so that fine-tuning steering is provided to the independent steering device 10, which is configured to: independently apply a steering angle to each of the wheels when the independent steering device 10 is driven in parallel mode.

[0044] Figure 1 A state in which a steering angle is input to wheels of a vehicle including the independent steering apparatus 10 depending on a parallel mode input to the vehicle according to one embodiment of the present disclosure is shown.

[0045] In one embodiment of the present disclosure, the controller 20 of the independent steering device 10 receives a vehicle parallel mode driving request through a button located in the vehicle or various methods of receiving a user request. More specifically, the parallel mode input may be received through an AVN button located inside the vehicle, a mode conversion button located inside the vehicle, or a driving mode setting button via a portable device.

[0046] In response to the received parallel mode input, the controller 20 may perform control so that the same steering angle is input to the independent steering devices 10 located at the corresponding wheels of the vehicle. More specifically, when the parallel mode input is applied, the controller 20 applies a driving force to the independent steering device 10 so as to form a specified angle with one side relative to the longitudinal direction of the vehicle.

[0047] In one embodiment of the present disclosure, the controller 20 is configured to control the corresponding independent steering device 10 in response to the parallel mode input so as to have an angle of 90 degrees with the longitudinal direction of the vehicle. In other words, the controller 20 is configured to align the wheels in a direction perpendicular to the longitudinal direction of the vehicle in response to the parallel mode input, and is also configured to set the moving direction of the vehicle in response to the input to the steering wheel 100.

[0048] The vehicle travels forward in a moving direction in response to an accelerator pedal input under a driving gear input condition after a parallel mode input, and travels backward in a set moving direction when an accelerator pedal input is applied after a reverse gear input is applied.

[0049] In other words, when the vehicle is driven in parallel mode, the direction of the input to the steering wheel 100 is set to the front side in the moving direction of the vehicle, and the vehicle accelerates or decelerates in the lateral direction of the vehicle in response to the gear input and the accelerator pedal / brake pedal input.

[0050] Figure 2 It is a view showing a method of controlling fine steering of an independent steering device 10 according to one embodiment of the present disclosure.

[0051] In one embodiment of the present disclosure, the modes for the independent steering device 10 may include a parallel mode, a rotation mode, and a diagonal driving mode. The state of applying the parallel mode input is further described in the following embodiments.

[0052] As shown in this figure, the controller 20 determines whether a parallel mode input from a user is applied in an initial vehicle standby state, and upon determining that the parallel mode input is applied, rotates all independent steering devices 10 located on corresponding wheels to a direction perpendicular to the longitudinal direction of the vehicle.

[0053] The controller 20 may receive a parallel mode input to the vehicle via a parallel mode execution button located inside the vehicle or on a portable device. In addition, after applying the parallel mode input, the controller 20 determines the user setting of the moving direction of the vehicle in the parallel mode. Herein, when the independent steering device 10 is driven in the parallel mode, the moving direction of the vehicle is set depending on the rotation direction of the steering wheel 100. More particularly, in one embodiment of the present disclosure, after applying the parallel mode input, the controller 20 determines whether the corresponding steering wheel 100 is rotated above a first setting angle. For example, the first setting angle may be set to 30 degrees to the left or 30 degrees to the right, and the controller 20 may compare the rotation angle of the steering wheel 100 with the setting angle stored in the controller 20.

[0054] In one example shown in this figure, when the parallel mode input is applied or the steering wheel 100 is rotated more than 30 degrees to the right after the parallel mode input is applied, the controller 20 sets the moving direction of the vehicle in the parallel mode to the right direction. Therefore, when the accelerator pedal input is applied in response to the parallel mode input, the controller 20 sets the right side of the vehicle to the front side and the left side of the vehicle to the rear side.

[0055] When the steering wheel 100 continues to rotate above the first set angle, or when the steering wheel 100 maintains a returned state (after the steering wheel 100 returns to below the second set angle and no additional input is applied to the steering wheel 100), the controller 20 maintains the driving state of the vehicle in the parallel mode and accelerates or decelerates the vehicle in the moving direction set according to the accelerator pedal input.

[0056] In another embodiment, after the steering wheel 100 is rotated above the first setting angle, when the steering wheel 100 returns to below the second setting angle, the controller 20 determines whether any additional steering wheel input is applied, and once it is determined that any additional steering wheel input is applied, the controller 20 executes the vehicle to enter the fine-tuning steering mode. In this article, the second setting angle can be set to 3 degrees to the left or right. In other words, the controller 20 sets the moving direction of the vehicle by determining whether the steering wheel 100 is rotated above the first setting angle in response to the parallel mode input, and thereafter determines the return state of the steering wheel 100. In addition, the controller 20 determines whether the vehicle enters the fine-tuning steering mode by determining whether the steering wheel 100 is additionally rotated after the steering wheel 100 returns to below the second angle.

[0057] Thereafter, in a state where the independent steering device 10 is converted to be perpendicular to the longitudinal direction of the vehicle depending on the parallel mode, the controller 20 controls the independent steering device 10 located at the front side in the moving direction of the vehicle to perform fine steering in the fine steering mode. In one embodiment of the present disclosure, when the moving direction of the vehicle in the parallel mode is set to the right direction of the vehicle, the controller 20 controls the independent steering device 10 located on the right side of the vehicle so that the steering angle of the corresponding independent steering device 10 is changed in response to the fine steering input to the vehicle.

[0058] In one embodiment of the present disclosure, when the vehicle enters the fine-steering mode, the steering angles of the front steering device 10 and the rear steering device 10 located on the right side of the vehicle are controlled in response to the input to the steering wheel 100. In addition, when the input to the steering wheel 100 corresponds to the right direction, the fine-steering can be performed to the right based on the right moving direction of the vehicle moving depending on driving in the parallel mode. In addition, when the input to the steering wheel 100 corresponds to the left direction, the fine-steering can be performed to the left based on the right moving direction of the vehicle moving depending on driving in the parallel mode. Herein, depending on the input to the steering wheel 100 that performs the fine-steering, the fine-steering of the independent steering device 10 can be performed in the same direction as the rotation direction of the steering wheel 100 based on the moving direction, or can be performed in response to the input in the opposite direction. In addition, in response to the input direction to the steering wheel 100, the independent steering device 10 located on the front side in the moving direction performs the fine-steering to the left or right based on the longitudinal direction of the wheel depending on the parallel mode.

[0059] When driving the independent steering device 10 in the parallel mode, the controller 20 determines whether the steering wheel 100 returns to its initial position and whether any additional input is applied to the steering wheel 100 after the steering wheel 100 returns, and performs fine-tuning steering of the independent steering device 10 located on the front side in the moving direction of the vehicle in the parallel mode.

[0060] Therefore, in the present disclosure, in the parallel mode, the vehicle moves in the lateral direction, and at the same time, the independent steering device 10 located at the front end in the moving direction of the vehicle performs fine steering, so that the lateral moving direction of the vehicle can be controlled more accurately.

[0061] Figure 3 1 is a flowchart showing a method for controlling fine steering of an independent steering device 10 according to one embodiment of the present disclosure.

[0062] As shown in this figure, the method includes determining, by the controller 20 , whether a parallel mode input is applied to the vehicle for the first time (in operation S10 ).

[0063] The controller 20 receives the parallel mode input through the operation of a button located inside the vehicle, the operation of an AVN button located inside the vehicle, or the driving input using a smartphone. The controller 20 receives the parallel mode input through various operations and performs the input of the steering angle to the independent steering device 10 (in operation S20).

[0064] In addition, in addition to performing a steering angle input in a direction perpendicular to the longitudinal direction of the vehicle on the independent steering device 10 in response to the parallel mode input, the controller also sets a moving direction of the vehicle in the parallel mode (in operation S20).

[0065] According to one embodiment of the present disclosure, when setting the moving direction of the vehicle in the parallel mode, the controller 20 compares the steering input (e.g., the rotation angle) to the steering wheel 100 with the first setting angle. In other words, once it is determined that the steering wheel 100 is rotated to the left or right above the first setting angle, the controller 20 sets the moving direction of the vehicle in the parallel mode to one of the steering wheel rotating to the left and to the right (S20).

[0066] Therefore, the controller 20 determines whether the parallel mode input is applied, and measures the rotation direction and rotation angle of the steering wheel 100, so as to set the front and rear sides of the moving direction of the vehicle in the parallel mode in response to the parallel mode input. In addition, when the steering wheel 100 is rotated in one direction by more than a first setting angle, the moving direction of the vehicle in the parallel mode is set to the direction in which the steering wheel is rotated (in operation S20).

[0067] The controller 20 determines whether an accelerator pedal input is applied after the moving direction is set, and drives the corresponding wheels so that the vehicle moves laterally in the set moving direction in response to the depth to which the accelerator pedal is depressed. After the moving direction of the vehicle is set, when a reverse gear is input, the controller may set the opposite direction of the set moving direction to the reverse direction. In addition, in response to a brake pedal input, the controller 20 may decelerate the vehicle traveling in the moving direction or backward in the moving direction. In other words, in response to an accelerator input in parallel mode, the vehicle is controlled to accelerate toward the side set to the moving direction when a forward gear is input, and to accelerate toward the opposite side of the side set to the moving direction when a reverse gear is input.

[0068] Thereafter, the controller 20 determines whether the vehicle enters the fine-tuning steering mode (in operation S30) by determining whether the steering wheel 100 rotated above the first setting angle returns to below the second setting angle, and by determining whether any additional input is applied to the steering wheel 100 after the steering wheel 100 returns to below the second setting angle.

[0069] In other words, when determining the fine-tuning steering mode input, the controller 20 determines whether the steering wheel 100 returns to below the second set angle depending on the setting of the vehicle's moving direction in the parallel mode, and performs fine-tuning steering of the independent steering device 10 located at the front end in the moving direction of the vehicle in response to additional input to the steering wheel 100 (in operation S40).

[0070] For example, after the moving direction of the vehicle in the parallel mode is set to the right direction of the vehicle, when an additional input is applied to the steering wheel 100 in the right direction in the fine-tuning steering mode, the additional steering angle is input to the independent steering devices 10 located at the front and rear of the right side of the vehicle to provide a right turning environment in the moving direction of the vehicle in the parallel mode (in operation S40).

[0071] On the contrary, after the moving direction of the vehicle in the parallel mode is set to the right direction of the vehicle, when an additional input is applied to the steering wheel 100 in the left direction in the fine-tuning steering mode, an additional steering angle is input to the front and rear independent steering devices 10 located on the right side of the vehicle to provide a left turning environment in the moving direction of the vehicle in the parallel mode (in operation S40).

[0072] However, the rotation direction of the steering wheel 100 in the fine steering mode of the present disclosure is not limited to the disclosed embodiment, and the fine steering angle may be input to the independent steering device 10 on the front side of the moving direction set in the parallel mode in response to various types of rotations.

[0073] Figure 4The flowchart is a method for determining whether a vehicle enters a fine-tuning steering mode according to one embodiment of the present disclosure.

[0074] In one embodiment of the present disclosure, the controller 20, upon determining that the steering input (e.g., rotation angle) to the steering wheel 100 corresponds to above a first set angle, determines that the moving direction is set (in operation S100), and determines whether the steering wheel 100 of the vehicle with the moving direction set returns to below a second set angle (in operation S200).

[0075] When the moving direction of the vehicle in the parallel mode is set by the steering wheel 100 having a steering input corresponding to a first setting angle or more, once it is determined that the steering wheel 100 has not returned below the second setting angle, the vehicle maintains driving in the parallel mode (in operation S500).

[0076] On the other hand, after the steering wheel 100 of the vehicle in which the moving direction is set returns below the second set angle, the controller 20 determines whether an additional rotation angle input is applied to the steering wheel 100 (in operation S300 ).

[0077] When it is determined that an additional rotation angle input is applied to the steering wheel 100, the controller 20 performs fine steering of the independent steering device 10 located at the front end in the moving direction of the vehicle in the parallel mode (in operation S400). Once it is determined that no additional rotation angle input is applied to the steering wheel 100, the controller 20 stores the moving direction of the vehicle in the parallel mode, and maintains the parallel mode and the driving environment along the stored moving direction (in operation S500).

[0078] In other words, the controller 20 determines the fine steering mode input based on whether the steering wheel 100 is rotated above the first set angle and then returns to below the second set angle, and once it is determined that an additional rotation angle input is applied to the returning steering wheel 100, the vehicle is driven in the fine steering mode.

[0079] Conversely, upon determining that the steering wheel 100 rotated above the first setting angle has not returned below the second setting angle, or upon determining that no additional steering angle input is applied to the steering wheel 100 after returning the steering wheel 100 below the second setting angle, the controller 20 maintains driving in the parallel mode.

[0080] Therefore, the controller 20 is configured to: when the conditions for determining whether the vehicle enters the fine-tuning steering mode, that is, the condition of returning the steering wheel 100 to below the second set angle and the condition of applying an additional rotation angle to the steering wheel 100 after setting the moving direction of the vehicle in the parallel mode are all met, the fine-tuning steering mode is executed by inputting a steering angle to the independent steering device 10 located at the front end in the moving direction.

[0081] As is apparent from the above description, the present disclosure can provide the following effects through the above-mentioned configuration and connection and use relationship.

[0082] The present disclosure provides a technique for measuring continuous steering wheel input and, in response, performing fine-tuning steering of a steering device, thereby being able to provide a user with excellent steering performance.

[0083] In addition, in the present disclosure, a controller configured to measure a steering wheel input determines a parallel mode input and a fine steering mode input, thereby being able to provide a fine steering mode that increases user convenience.

[0084] The present disclosure has been described in detail with reference to some embodiments of the present disclosure. However, it should be understood by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the present disclosure, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A method for controlling fine steering of an independent steering device for a vehicle, wherein: Include: A parallel mode input is determined by a controller; When the controller receives the parallel mode input, performing rotation of the independent steering device; determining, by the controller, a direction of movement of the vehicle in response to a rotation direction of a steering wheel; After setting the moving direction of the vehicle, the controller determines whether the vehicle enters a fine-tuning steering mode; as well as The steering angle input to the independent steering device located at the front end in the moving direction of the vehicle is performed by the controller.

2. The method according to claim 1, wherein: Determining the moving direction of the vehicle includes: It is determined whether a rotation angle equal to or greater than a first setting angle is applied to the steering wheel.

3. The method according to claim 2, wherein: Determining whether the vehicle enters the fine-tuning steering mode includes: determining whether the steering wheel returns to below a second setting angle after applying the rotation angle equal to or greater than the first setting angle to the steering wheel; as well as The vehicle is determined to enter the fine steering mode when additional steering input is applied to the steering wheel after the steering wheel returns below the second set angle.

4. The method according to claim 3, wherein: Upon determining that the steering wheel has not returned below the second setting angle after the rotation angle equal to or greater than the first setting angle is applied to the steering wheel, the independent steering device maintains the parallel mode.

5. The method according to claim 3, wherein: Upon determining that no additional steering input is applied to the steering wheel after the steering wheel returns below the second set angle, the independent steering device maintains the parallel mode.

6. The method according to claim 3, wherein: Determining that the vehicle enters the fine-tuning steering mode includes: In response to an additional input to the steering wheel, fine steering of at least one of the independent steering devices located at an end facing the moving direction is performed.

7. The method according to claim 1, wherein: In performing the rotation of the independent steering device when the controller receives the parallel mode input, the controller controls the independent steering device to have a steering angle corresponding to a direction perpendicular to the longitudinal direction of the vehicle.

8. A method for controlling fine-tuning steering of an independent steering device, wherein: Include: A parallel mode input is determined by a controller; When the controller receives the parallel mode input, performing rotation of the independent steering device of the vehicle; determining, by the controller, a direction of movement of the vehicle in response to a rotation direction of a steering wheel of the vehicle; After setting the moving direction of the vehicle, the controller determines whether the vehicle enters a fine-tuning steering mode; Once it is determined that the vehicle enters the fine steering mode, determining by the controller whether to apply an additional input to the steering wheel; as well as After the vehicle enters the fine steering mode, a steering angle input to the independent steering device located at the front end in the moving direction of the vehicle is performed by the controller in response to the additional input to the steering wheel.

9. The method according to claim 8, wherein: Determining the moving direction of the vehicle includes: It is determined whether a rotation angle equal to or greater than a first setting angle is applied to the steering wheel.

10. The method according to claim 9, wherein: Determining whether the vehicle enters the fine-tuning steering mode includes: determining whether the steering wheel returns to below a second setting angle after applying the rotation angle equal to or greater than the first setting angle to the steering wheel; as well as The vehicle is determined to enter the fine steering mode when additional steering input is applied to the steering wheel after the steering wheel returns below the second set angle.

11. The method according to claim 10, wherein: Upon determining that the steering wheel has not returned below the second setting angle after the rotation angle equal to or greater than the first setting angle is applied to the steering wheel, the independent steering device maintains the parallel mode.

12. The method according to claim 10, wherein: Upon determining that no additional steering input is applied to the steering wheel after the steering wheel returns below the second set angle, the independent steering device maintains the parallel mode.

13. The method according to claim 10, wherein: Determining that the vehicle enters the fine-tuning steering mode includes: In response to an additional input to the steering wheel, fine steering of at least one of the independent steering devices located at an end facing the moving direction is performed.

14. The method according to claim 8, wherein: In performing the rotation of the independent steering device when the controller receives the parallel mode input, the controller controls the independent steering device to have a steering angle corresponding to a direction perpendicular to the longitudinal direction of the vehicle.

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