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 steering axle for a steerable vehicle has an axle housing and a steering drive with an electric motor and motor shaft. A first planetary stage includes a first sun gear, first planet gears, and a first planet carrier. A last planetary stage includes a last sun gear, last planet gears, a last planet carrier, and a ring gear. A force flux from the motor shaft runs via the first sun gear and the first planet gears to the first planet carrier. The force flux furthermore runs via the last sun gear to the last planet gears. The force flux furthermore runs from the last planet gears to the ring gear. In relation to the axle housing, the ring gear is pivotably mounted about a pivot axis. The last planet carrier is connected in a rotationally fixed manner to the axle housing. Also disclosed is a corresponding industrial truck.

A steering drive includes an electric motor with a motor shaft and a steering lever rotatable about a pivot axis. A first planetary stage has a first sun gear, first planet gears, a first ring gear, and a first planet carrier. A final planetary stage has a final sun gear, final planet gears, a final ring gear, and a final planet carrier. A force flow runs from the motor shaft to the first sun gear, and from the first sun gear via the first planet gears to the first planet carrier and to the first ring gear. The force flow runs via the final sun gear and via the final planet gears to the final ring gear, runs from the first ring gear and from the final ring gear to the steering lever, and runs via a first sun gear shaft from the electric motor to the first sun gear.

A steering axle for a steerable vehicle includes an axle housing, a steering motor, a steering gear, a first steering knuckle with a first steering arm, a second steering knuckle with a second steering arm, a coupling rod, a first tie rod, and a second tie rod. The first and second steering arms are each rigidly arranged on a respective steering knuckle that is hinged in the axle housing. The first and second tie rods are each hinged at a first end to a respective steering arm and hinged at a second end to the coupling rod. The steering axle is configured so that the steering motor can set a steering angle of the steering axle via the steering gear. The steering axle has first and second intermediate steering levers, each hinged at its first end to the axle body and hinged at its second end to the coupling rod.

A roll vibration damping control system includes an electronic control unit configured to: compute a sum of a product of a roll moment of inertia and a roll angular acceleration of a vehicle body, a product of a roll damping coefficient and a first-order integral of the roll angular acceleration, and a product of an equivalent roll stiffness of the vehicle and a second-order integral of the roll angular acceleration, as a controlled roll moment to be applied to the vehicle body; compute a roll moment around a center of gravity of a sprung mass as a correction roll moment, the roll moment being generated by lateral force on wheels due to roll motion; and compute a target roll moment based on a value obtained by correcting the controlled roll moment with the correction roll moment.

An embodiment independent corner module includes a knuckle fastened to a wheel, a steering frame fastened to the knuckle, the steering frame having an upper end configured to be fixed to a vehicle body and to rotate together with the knuckle to apply a steering angle to the wheel, a steering drive unit fastened to the steering frame, and a body guide rail fastened to the steering drive unit and configured to be disposed on the vehicle body, wherein, in response to reception of a driving force of the steering drive unit, the steering drive unit is configured to be rotated along the body guide rail and the steering frame is configured to be rotated simultaneously along with the rotation of the steering drive unit.

Provided is a steering apparatus 1 including: a wheel 2; and a steering unit 5 configured to steer the wheel 2, the steering apparatus 1 being fixable to a vehicle body, wherein the steering unit 5 includes: a steering drive source (an electric motor incorporated in an electric motor unit 61) configured to steer the wheel 2 with a steering rotation axis 63a as an axis, the steering rotation axis 63a being a rotation axis when the wheel 2 is steered; and a manual toe angle adjustment mechanism 7 different from the steering drive source, the manual toe angle adjustment mechanism 7 enabling a toe angle of the wheel 2 to be manually adjusted around the steering rotation axis 63a.

An independently driving wheel module includes: a base frame including an upper end fixed to a coupling surface of a vehicle body, and a rotation part coupled to the upper end of the base frame such that the rotation part is rotatable with respect to the upper end of the base frame; a connection link including a first end integrally coupled to the rotation part, and a second end having a shape extending downward from the first end of the connection link; a driving wheel disposed at a side of the second end of the connection link and coupled to the second end of the connection link; and a rotation plate including an upper and lower surfaces extending obliquely in misaligned directions, the rotation plate being interposed between the base frame and the vehicle body so as to be rotatable with respect to the base frame or the vehicle body.

A steering shock absorbing structure for an in-wheel motor includes: a steering input unit configured to detect a steering angle of a steering wheel; a steering unit fastened to the steering input unit, and configured to steer a wheel according to the steering angle of the steering input unit; a tilting unit having a first end connected to the steering unit and a second end connected to the wheel, and configured to be tilted with respect to the steering unit; and a controller configured to selectively drive the tilting unit.

An independent corner module includes a knuckle fastened to a wheel, an axle gear link fastened to guide a vertical motion of the knuckle, a fixed frame adjacent to the axle gear link and fixed to a vehicle body, and a steering operator positioned between the axle gear link and the fixed frame to apply an operating force. Here, the steering operator rotates along the fixed frame upon application of operating force from the steering operator, and at a same time, the axle gear link rotates relative to the steering operator.