Vehicle Corner Module Apparatus for Independent Wheel Steering Control
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Solution Overview
Problem
Current vehicle systems lack efficient integration of driving, braking, steering, and suspension systems, particularly in electric vehicles, which hinders precise control and stability, especially in complex driving environments.
Innovation Solution
A corner module apparatus that includes processors to obtain driving state and environment information, calculating target steering angles for each wheel based on predefined kinetics models, and independently controlling wheel steering through feedforward and feedback control to optimize vehicle trajectory and stability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If driving, braking, steering, and suspension systems are integrated in a corner module apparatus, then vehicle stability and maneuverability are improved, but device complexity increases
Solution Approach 1:
The patent integrates driving, braking, steering, and suspension systems into a unified corner module apparatus. Each corner module contains an in-wheel motor for driving, a brake device for braking, a steering mechanism for steering, and a suspension device for suspension, all combined in a single integrated structure that controls one wheel, thereby improving vehicle stability and maneuverability through coordinated control of all four wheels.
Solution Approach 2:
The vehicle control system is divided into four independent corner module apparatuses, one for each wheel. Each corner module operates semi-independently with its own processors and controllers, allowing individual wheel control while maintaining overall system coordination through the main controller that calculates target steering angles and torque for each wheel based on vehicle dynamics models.
2Productivity
If independent control of each wheel's steering and torque is implemented, then maneuverability and energy efficiency are improved, but control system complexity increases
Solution Approach 1:
The controller dynamically adjusts multiple parameters including steering angles, torque values, and rotational speeds for each wheel based on real-time vehicle state information. The system calculates target steering angles and target torque for each wheel independently using vehicle dynamics models, allowing optimized energy efficiency through precise parameter control while managing complexity through systematic calculation methods.
Solution Approach 2:
The corner module apparatus employs feedback control where processors obtain actual steering angle information and rotational speed information from sensors, compare these with target values calculated by the controller, and adjust control outputs accordingly. This closed-loop feedback system ensures precise independent control of each wheel while maintaining system stability through continuous monitoring and adjustment.
3Ease of operation
If target steering angles are calculated based on real-time driving state and environment information, then driving performance is enhanced, but information processing requirements increase
Solution Approach 1:
The controller pre-calculates target steering angles and target torque values based on current vehicle state information and stored vehicle dynamics models before actuation. By preparing control parameters in advance based on predicted vehicle behavior and current conditions, the system enhances driving performance through proactive control adjustments while managing information processing load through efficient pre-computation.
Data Source
AI summary
Disclosed is a corner module apparatus for a vehicle. The apparatus includes processors configured to obtain driving state information and driving environment information of the vehicle, and a controller configured to calculate information on a distance up to a target point based on the driving state information and the driving environment information obtained by the processors. The target point is a target of a movement of the vehicle. The controller is configured to calculate a target curvature based on the calculated information on the distance. The calculated target curvature is a curvature of a target trajectory up to the target point. The controller is configured to calculate a target steering angle of each of four wheels of the vehicle based on the calculated target curvature, and independently control steering of each of the four wheels based on the calculated target steering angle.