본 발명은 4륜 독립 조향장치에 관한 것으로, 조향 모듈에 설치된 센서모듈로부터 검출되는 값을 피드백 받아, 추정 부하량(JPEGpat00031.jpg73)을 산출하는 부하 추정 모듈; 및 상위 제어기인 자율주행모듈로부터의 조향각 명령(Theta_ref(θ_ref)), 상기 센서모듈로부터 피드백 되는 값, 및 상기 부하 추정 모듈로부터 입력되는 값을 바탕으로, 상기 실제 조향각(Theta(θ))이 상기 조향각 명령(Theta_ref(θ_ref))을 추종할 수 있도록 하기 위한 출력 값(u(Vin))을 산출하여, 상기 조향 모듈에 출력하는 프로세서;를 포함한다.
Disclosed herein is a four-wheel independent steering apparatus. The apparatus includes a load estimator configured to receive, from a sensor disposed in a steering system, a value corresponding to a sensing by the sensor, and calculate an amount of load based on the value received from the sensor. The apparatus also includes a processor configured to receive, from an autonomous driving controller that is an upper-level controller, a steering angle reference, calculate an output value for allowing an actual steering angle to track the steering angle reference, based on the steering angle reference, the value from the sensor, and the amount of the load from the load estimator, and output the output value to the steering system.
4 APPARATUS FOR FOUR WHEEL INDEPENDENT STEERING AND CONTROL METHOD THEREOF
4륜 독립 조향장치 및 그 제어 방법
2024-04-24
Patent
Elektronische Ressource
Koreanisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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