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.
FOUR-WHEEL INDEPENDENT STEERING APPARATUS AND CONTROL METHOD THEREOF
2024-04-18
Patent
Elektronische Ressource
Englisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
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