Improved Wheel Synchronization in eCM-Based Electric Vehicles via Mode-Decoupled Steering Control Framework

Abstract

This article proposes a mode-decoupled control framework for steering position regulation in electronic corner modules based vehicles. In vehicles based on eCM, where each module integrates steering, braking, driving, and suspension, the absence of mechanical linkage can cause unequal steering responses between wheels and reduced driving stability. To address this issue, the proposed framework transforms the steering dynamics of individual wheels into two modal dynamics: a common steering motion and wheel synchronization. Based on this two-mode formulation, steering patterns are expressed as combinations of the two modal components. The experiments show improved steering angle reference tracking and reduced wheel synchronization error compared to conventional wheel-level control.