Apparatus and method for controlling steering and speed of vehicle

A non-transitory computer readable medium containing program instructions executed by a processor, the computer readable medium comprising:

• program instructions that obtain an input steering angle and a vehicle speed of a vehicle;
• program instructions that determine a target steering angle and a target frequency for each wheel of the vehicle based on the input steering angle and the vehicle speed;
• and
• program instructions that control a steering device configured to perform steering of each wheel of the vehicle and motors mounted on each wheel of the vehicle based on the target steering angle for each wheel and the target frequency for each wheel.

An apparatus for controlling a vehicle, the apparatus comprising:

• a communication unit;
• at least one processor;
• and
• a memory operably coupled with the at least one processor,
• wherein the at least one processor is configured to execute instructions to:
• obtain an input steering angle and a vehicle speed of the vehicle,
• determine a target steering angle and a target frequency for each wheel of the vehicle based on the input steering angle and the vehicle speed, and
• control a steering device configured to perform the steering for each wheel of the vehicle and motors mounted on each wheel of the vehicle based on the target steering angle for each wheel and the target frequency for each wheel.