Apparatus and method for controlling four-wheel independent steering vehicle
AssigneeHyundai Mobis Co., Ltd.
InventorJong Min Lee
Life of this patent
Estimating the term…
Abstract
An apparatus for controlling a four-wheel independent steering vehicle includes: a sensor module; and a processor configured to perform parking through selective control of a front-wheel drive module and a rear-wheel drive module in consideration of at least one of an angle between the four-wheel independent steering vehicle and a parking surface, a position and shape of the parking surface, or a direction of the four-wheel independent steering vehicle entering the parking surface, based on information detected through the sensor module, upon parking using a CRAB mode of the four-wheel independent steering vehicle.
Claims9
An apparatus for controlling a four-wheel independent steering vehicle, the apparatus comprising:
- a sensor module;
- and
- a processor configured to perform parking through selective control of a front-wheel drive module and a rear-wheel drive module in consideration of at least one of an angle between the four-wheel independent steering vehicle and a parking surface, a position and shape of the parking surface, or a direction of the four-wheel independent steering vehicle entering the parking surface, based on information detected through the sensor module, upon parking using a CRAB mode of the four-wheel independent steering vehicle,
- wherein, when a longitudinal direction of the four-wheel independent steering vehicle is not parallel to a long side of the parking surface, the processor selectively controls a drive module that drives a wheel closer to the long side of the parking surface, among the front-wheel drive module and the rear-wheel drive module, according to a specified setting, to control the four-wheel independent steering vehicle to move away from the parking surface so that the longitudinal direction of the four-wheel independent steering vehicle becomes parallel to the long side of the parking surface.
A method of controlling a four-wheel independent steering vehicle, the method comprising:
- detecting, by a processor, an angle between a longitudinal direction of a parking surface and a longitudinal direction of the four-wheel independent steering vehicle through a sensor module upon parking using a CRAB mode of the four-wheel independent steering vehicle;
- and
- performing, by the processor, the parking through selective control of a front-wheel drive module and a rear-wheel drive module, based on information detected through the sensor module, in consideration of at least one of the angle between the four-wheel independent steering vehicle and the parking surface, a position and shape of the parking surface, or a direction of the four-wheel independent steering vehicle entering the parking surface,
- wherein the performing of the parking comprises
- when the longitudinal direction of the four-wheel independent steering vehicle is not parallel to a long side of the parking surface, selectively controlling a drive module that drives a wheel closer to the long side of the parking surface, among the front-wheel drive module and the rear-wheel drive module, according to a specified setting, to control the four-wheel independent steering vehicle to move away from the parking surface so that the longitudinal direction of the four-wheel independent steering vehicle becomes parallel to the long side of the parking surface.
Dependencies are inferred from the claim text.