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Recently, customers' demands for future mobility have increased, such as movement in narrow spaces, increased driving freedom, and ease of parking. The key technology to meet these demands is the four-wheel independent steering system. In this study, we introduce the concept design process for a four-corner steering module and how to prove the design. In addition, we introduce a control method for basic driving modes, such as short U-turn, diagonal driving, crab driving, and zero radius turning. Finally, we propose a special driving mode using the instantaneous rotation center of the 4WS system.