A method for having a vehicle follow a desired curvature path is provided. The vehicle has at least one differential with a differential lock connected to at least one driven wheel axle of the vehicle. The method includes providing information regarding state of the differential lock, the state being either that the differential lock is activated or unlocked, and when the differential lock is activated, calculating a yaw moment of the vehicle caused by the differential lock; and compensating for a deviation from the desired curvature path caused by the yaw moment such that a resulting steering angle is equal to or less than a maximum allowed steering angle of the vehicle. The compensation is a feed forward compensation.
METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH
VERFAHREN, UM EIN FAHRZEUG EINER GEWÜNSCHTEN KRÜMMUNGSBAHN FOLGEN ZU LASSEN
PROCÉDÉ POUR FAIRE SUIVRE À UN VÉHICULE UN TRAJET DE COURBURE SOUHAITÉ
2021-09-01
Patent
Electronic Resource
English
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES |
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