{
  "$type": "site.standard.document",
  "description": "A control apparatus of a four-wheel independent control vehicle and a control method therefor are provided. The control apparatus includes wheels that are each installed with a steering device, a driving device, and a braking device, and a processor. In response to occurrence of a failure in any…",
  "path": "/patents/1377282",
  "publishedAt": "2025-12-11T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W50/029",
    "HYUNDAI MOBIS CO., LTD."
  ],
  "textContent": "A control apparatus of a four-wheel independent control vehicle and a control method therefor are provided. The control apparatus includes wheels that are each installed with a steering device, a driving device, and a braking device, and a processor. In response to occurrence of a failure in any one steering device among the wheels, the processor determines a location of a failed wheel, calculates an insufficient cornering force of the failed wheel, and compensates for the insufficient cornering force by controlling at least one of the steering device, the driving device, and the braking device installed on each of the wheels.",
  "title": "CONTROL APPARATUS OF FOUR-WHEEL INDEPENDENT CONTROL VEHICLE AND METHOD THEREOF"
}