An apparatus for four-wheel independent steering. The apparatus may include: a rear wheel angle computation unit configured to compute a rear wheel angle (.sub.r) resulting by multiplying a front wheel angle (.sub.f) by a predetermined front/rear wheel angle ratio (Kss) corresponding to a vehicle speed (V); a gain computation unit configured to compute a gain (A) corresponding to a steering angle acceleration and the vehicle speed and then to output a final rear wheel angle (.sub.r) resulting by multiplying the rear wheel angle (.sub.r) computed by the rear wheel angle computation unit by the computed gain (A); and a control unit configured to perform rear wheel steering control based on the front wheel angle (.sub.f) and the final rear wheel angle (.sub.r).

An embodiment independent corner module includes a knuckle unit positioned on an inner side surface of a wheel, a steering unit disposed to face a strut coupled to the knuckle unit, the steering unit having a center shaft configured to be fixed to a vehicle body and configured to rotate about the center shaft, a guide rail configured to define a movement path through which the steering unit rotates and moves, and a rack steering unit positioned in the steering unit, fastened to the knuckle unit, and configured to apply rotating force to the knuckle unit in response to a movement in a longitudinal direction.

A computer-implemented method that, when executed by data processing hardware, causes the data processing hardware to perform operations comprising determining a desired effective steering angle based on a desired path, measuring a front road wheel angle and a rear road wheel angle, determining an actual effective steering angle, determining an effective steering angle error based on the desired effective steering angle and the actual effective steering angle, generating a torque command for an electronic power steering system based on the effective steering angle error, and controlling an active rear steering system independently from the electronic power steering system.

A dual-mode active rear-wheel steering device based on a multi-linkage mechanism, including: a steering angle control motor with a speed-reduction mechanism, a multi-linkage mechanism assembly for converting rotational motion of the steering angle control motor into linear motion of an end of the push rod, a steering actuating mechanism for converting linear motion of the multi-linkage mechanism assembly into rotation of a knuckle around a kingpin to make the rear wheels steer, a first electromagnetic pin puller and a second electromagnetic pin puller respectively configured to control a first extendable-retractable push rod assembly and a second extendable-retractable push rod assembly to work at a fixed or variable axial length. The device uses the steering angle control motor to drive the two rear wheels to turn in the same direction or opposite directions through the control of energized state of the two electromagnetic pin pullers.

A steering system for a vehicle includes: an operation member operable by a driver; a front-wheel steering device to which the operation member is connected to enable a front wheel to be steered by a steering amount; a rear-wheel steering device configured to steer a rear wheel independently of the front wheel; and a controller configured to control the front-wheel and rear-wheel steering devices. The controller executes a front-wheel steering force application control to apply, to the front wheel, a steering force including, as a component thereof, a driving support force that causes the vehicle to travel along a target travel line. The controller determines, in the front-wheel steering force application control, the driving support force based on a target operation amount that is the operation amount of the operation member to cause the vehicle to travel along the target travel line and a steering amount of the rear wheel.

A four-wheel steering control device for independently controlling steering of each of first to fourth wheels disposed in a vehicle. A commanded steering angle acquiring part acquires first to fourth commanded steering angles for first to fourth wheels of a vehicle. A four-wheel turning control rate calculating part determines first to fourth residual angles, by which the first to fourth wheels realize the first to fourth commanded steering angles, from current steering angles and calculate first to fourth turning control rates of the first to fourth wheels on basis of the first to fourth residual angles determined. A control part independently controls steering of each of the first to fourth wheels using the first to fourth turning control rates calculated.

Disclosed is a rear wheel steering apparatus that easily measures an absolute position of a rear wheel steering system including a steering shaft and a drive motor. This apparatus includes a driving force generator providing a driving force, a gear-shaped drive pulley connected to the driving force generator, a gear-shaped driven pulley configured to rotate by receiving a driving force from the drive pulley, a first measurement unit including a rotating sub-gear engaged with the drive pulley and a first magnetic force generator generating a magnetic field variation as the sub-gear rotates, a second measurement unit including a rotating main gear engaged with the driven pulley and a second magnetic force generator generating a magnetic field variation as the main gear rotates, and a printed circuit board detecting magnetic field variations of the first and second magnetic force generators and measuring steering angles of the drive and driven pulleys.