Design evolution and uncertainty-aware control readiness of vehicle corner modules for advanced E-mobility

Vehicle corner modules are increasingly studied as a distributed X-by-wire chassis architecture in which propulsion, steering, braking, and suspension functions are integrated at the wheel level. Although independent wheel-level actuation can improve maneuverability, packaging flexibility, drivetrain simplification, redundancy, and fault-tolerant motion execution, corner modules are not yet universally ready for mass-production passenger vehicles. Their practical deployment remains constrained by increased unsprung mass, packaging limitations, thermal management, manufacturability, reliability, cost, validation, and control complexity. These unresolved trade-offs motivate an architecture-specific review that examines corner modules not as immediate replacements for conventional chassis systems, but as a technically informative platform for studying the co-evolution of integrated hardware and uncertainty-aware control. This paper reviews representative wheel corner module architectures developed in academia and industry, comparing their subsystem integration, steering capability, suspension layout, braking strategy, design evolution, and engineering limitations. It further proposes a structured classification of uncertainty-aware control readiness into three levels: (i) L1: fixed-model or design-stage robust control; (ii) L2: closed-loop control with passive adaptation or online estimation; and (iii) L3: active uncertainty-reducing control that identifies and responds to uncertainties in real time. By linking mechanical architecture, actuator redundancy, sensing capability, and control readiness, this review clarifies how corner modules can support future electric, autonomous, and software-defined mobility platforms, while also identifying the hardware/software co-design challenges that must be addressed before broader deployment.