Vehicle Corner Module Steering for Independent Four-Wheel Control
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Solution Overview
Problem
Existing vehicle systems lack efficient integration and independent control of driving, braking, and suspension functions, particularly in in-wheel motor vehicles, which hinders optimal performance and maneuverability.
Innovation Solution
A corner module apparatus that integrates processors and controllers to calculate and independently control the steering of each wheel based on a bicycle model, utilizing a lever ratio to determine steering angles and modes, allowing for differentiated control strategies such as front-wheel, four-wheel inphase, and four-wheel reversed-phase steering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If independent control of each wheel is implemented, then vehicle maneuverability and handling are improved, but device complexity increases due to the need for integrated corner module apparatus controlling multiple functions
Solution Approach 1:
The patent combines driving, braking, steering, and suspension systems into an integrated corner module apparatus. Multiple actuators (driving actuator, braking actuator, steering actuator, suspension actuator) are merged into a single modular unit that can be installed at each wheel corner, enabling coordinated control of all four wheels through a unified control system that calculates target angles and coordinates actuator operations.
Solution Approach 2:
The control system is segmented into independent corner modules, with each corner module capable of independent control. The system divides the vehicle into four independent corner units, each with its own actuators and control capabilities, allowing decentralized yet coordinated control of driving, braking, steering, and suspension functions at each wheel.
2Adaptability or versatility
If multiple actuators are integrated in each corner module, then functional integration is improved, but device complexity increases due to the number of components
Solution Approach 1:
Each corner module is designed as a universal unit that can perform multiple functions: driving (through the driving actuator), braking (through the braking actuator), steering (through the steering actuator), and suspension control (through the suspension actuator). This multi-functional design allows a single modular apparatus to replace what would traditionally require separate systems for each function.
Solution Approach 2:
The patent merges four separate systems (driving, braking, steering, suspension) into a single integrated corner module apparatus. By combining these functions at the corner module level, the system reduces the need for separate control units and wiring harnesses that would be required if each function had its own dedicated system.
3Stability of the object's composition
If four-wheel independent steering is implemented, then vehicle stability and handling are improved, but ease of operation deteriorates due to the complexity of control calculations
Solution Approach 1:
The control system automatically calculates target angles for all four wheels based on vehicle speed, steering angle, and desired maneuvering mode. The system performs self-service by autonomously determining the optimal steering angles without requiring manual intervention or complex driver input, adapting to different driving conditions and modes ( Ackerman steering, four-wheel steering, reverse-phase steering) automatically.
Solution Approach 2:
The control system continuously monitors vehicle speed, steering angle, and actuator positions, using this feedback to dynamically adjust target angles for each wheel. The system adapts its control strategy based on real-time vehicle state and selected maneuvering mode, providing stable and predictable handling characteristics across different operating conditions.
Data Source
AI summary
Disclosed is a corner module apparatus for a vehicle. The corner module apparatus includes processors configured to obtain a steering angle, 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. The corner module apparatus also includes 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.