A steering system includes a first wheel and a second wheel spaced apart from the first wheel, a first tie rod, a second tie rod, and an electrical actuator. The first wheel is rotatably coupled to a first knuckle, and the first knuckle is pivotable about a first suspension post. The second wheel is rotatably coupled to a second knuckle, and the second knuckle is pivotable about a second suspension post spaced apart from the first suspension post. The first tie rod is coupled to the first knuckle and to a mechanical linkage. The second tie rod is coupled to the second knuckle and the mechanical linkage. The electrical actuator is coupled to the mechanical linkage so that movement of the electrical actuator translates the mechanical linkage axially, which adjusts the orientation of the wheels relative to the suspension posts.

The steering function-equipped hub unit includes: a turning shaft-equipped hub bearing (15) including an inner ring, an outer ring, and rolling elements in double rows interposed between the inner ring and the outer ring, the turning shaft-equipped hub bearing having a turning shaft extending in a vertical direction; a unit support member (3) rotatably supporting the turning shaft-equipped hub bearing (15) about a turning axis of the turning shaft; and a steering actuator (5) configured to rotationally drive the turning shaft-equipped hub bearing (15) about the turning axis (A). The unit support member (3) and the steering actuator (5) include a flange (3a) and an end portion (25Aa), respectively, to be removably fixed to a knuckle (6) which is a chassis frame component of a vehicle.

The steering function-equipped hub unit includes: a turning shaft-equipped hub bearing (15) including an inner ring, an outer ring, and rolling elements in double rows interposed between the inner ring and the outer ring, the turning shaft-equipped hub bearing having a turning shaft extending in a vertical direction; a unit support member (3) rotatably supporting the turning shaft-equipped hub bearing (15) about a turning axis of the turning shaft; and a steering actuator (5) configured to rotationally drive the turning shaft-equipped hub bearing (15) about the turning axis (A). The unit support member (3) and the steering actuator (5) include a flange (3a) and an end portion (25Aa), respectively, to be removably fixed to a knuckle (6) which is a chassis frame component of a vehicle.

An electrically operated steering system (1) is provided for a vehicle (2) with a rack (3) for attaching the steering system (1) to a frame of the vehicle (2), two steerable wheels (4) that are pivotably attached to the rack (3), a rod element (5) arranged on the rack (3), which is slidable in its longitudinal direction in relation to the rack (3), a kinematic unit (13), which is coupled to the rod element (5) and which transforms a movement of the rod element (5) into a steering rotation of the wheels (4), an electric machine (6), which is mechanically connected to the rod element (5) for effecting the movement of the rod element (5), and a lateral force absorbing mechanism (7), which is configured for absorbing a lateral force produced by the kinematic unit (13) in relation to the rod element (5).

An electrically operated steering system (1) is provided for a vehicle (2) with a rack (3) for attaching the steering system (1) to a frame of the vehicle (2), two steerable wheels (4) that are pivotably attached to the rack (3), a rod element (5) arranged on the rack (3), which is slidable in its longitudinal direction in relation to the rack (3), a kinematic unit (13), which is coupled to the rod element (5) and which transforms a movement of the rod element (5) into a steering rotation of the wheels (4), an electric machine (6), which is mechanically connected to the rod element (5) for effecting the movement of the rod element (5), and a lateral force absorbing mechanism (7), which is configured for absorbing a lateral force produced by the kinematic unit (13) in relation to the rod element (5).

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.

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 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 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.

Methods and systems are provided for a steering axle assembly. In one example, a system may include a tapered pin coupled to a steering knuckle and to an axle beam end. A set of bushings may circumferentially surround the tapered pin and enable rotation of the steering knuckle around the tapered pin without lubricant.