Hyundai Mobis Co., Ltd.

Kyongwon Min

Won Hyok Choi

Tae Heon Lee

Sang Oh Han

Disclosed is a corner module apparatus for a vehicle. The corner module apparatus includes processors configured to receive a braking initiation manipulation input of a vehicle from a driver. The corner module apparatus also includes a controller configured to perform braking of the vehicle by independently controlling steering of four wheels of the vehicle based on a direction angle when the braking initiation manipulation input is received by the one or more processors in a state in which the vehicle is positioned on the slope. The direction angle is an angle between an inclined direction of a slope and a longitudinal direction of the vehicle.

Corner module apparatus for vehicle

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.

A system and method for controlling a vehicle, where the system includes independent driving modules each including a connection device having a rotation center spaced apart from a driving shaft in a forward/rearward direction and configured to connect the wheel and a vehicle body to move the wheel in the forward/rearward or an upward/downward direction, a shock absorber extending in a longitudinal direction and configured to contract or stretch, to connect the vehicle body and the connection device, and to restrict an upward/downward movement of the connection device, and a driving device configured to rotate the wheel, a road surface detector configured to detect a height displacement or a state of a road, and a controller configured to control velocities of the front and rear wheels of the independent driving modules, and to change a height of the vehicle based on the height displacement or the state of the road.

System and method for controlling vehicle

Provided is a steering device of an independent drive wheel, the steering device including a base frame coupled to a vehicle body; a drive device coupled to the base frame and driven to rotate an output shaft; a steering knuckle connecting the base frame and the wheel through an upper arm and a lower arm spaced apart from each other in the up/down direction; and a connecting device having one end connected to the output shaft of the drive device and the other end, which extends in the longitudinal direction, connected to a steering knuckle below the upper arm to transmit the driving force of a drive device to rotate the steering knuckle in the same direction as the extending longitudinal direction.

Steering device of independent drive wheel and independent drive module including same

An independent drive module includes: an in-wheel motor configured to provide driving force to a wheel of a vehicle; a support arm including a first end connected to a vehicle body and a second end connected to the in-wheel motor, to support the in-wheel motor; a shock absorber module including a first end connected to the in-wheel motor and a second end connected to the vehicle body, the shock absorber being configured to absorb shock between the in-wheel motor and the vehicle body and swivel the in-wheel motor during turning of the vehicle so as to perform both shock absorption and steering; and a steering motor connected to the second end of the shock absorber module to transmit rotational force for the steering to the shock absorber module.

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Seoul, South Korea

Kyongwon Min