Corner module arrangement for vehicle

A corner module apparatus for a vehicle is disclosed. The corner module apparatus includes a processor configured to receive a driver's brake initiation maneuver input to a vehicle. The corner module apparatus also includes a controller configured to perform vehicle braking by independently controlling steering of four wheels of the vehicle based on a direction angle when the one or more processors receive a brake start manipulation input in a state in which the vehicle is located on a slope. The direction angle is an angle between a tilt direction of the slope and a longitudinal direction of the vehicle. 公开了一种用于车辆的转角模块装置。该转角模块装置包括处理器，该处理器被配置为接收驾驶员对车辆的制动启动操纵输入。该转角模块装置还包括控制器，该控制器被配置为当一个或多个处理器在车辆位于斜坡的状态下收到制动启动操纵输入时，通过基于方向角独立地控制车辆四个车轮的转向来执行车辆制动。该方向角是斜坡的倾斜方向与车辆的纵向方向之间的角度。