METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH

The present invention relates to a method for having a vehicle (100) follow a desired curvature path (C1), said vehicle (100) comprising at least one differential (10, 20, 30) with a differential lock connected to at least one driven wheel axle (40, 50) of said vehicle (100), said method comprising...

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Bibliographische Detailangaben
Hauptverfasser:	LAINE, Leo, VAIDYANATHAN, Karthik Ramanan
Format:	Patent
Sprache:	eng
Schlagworte:	CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES PERFORMING OPERATIONS ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	The present invention relates to a method for having a vehicle (100) follow a desired curvature path (C1), said vehicle (100) comprising at least one differential (10, 20, 30) with a differential lock connected to at least one driven wheel axle (40, 50) of said vehicle (100), said method comprising at least the following steps: -providing (S1) information regarding state of said differential lock, said state being either that said differential lock is activated or unlocked, and when said differential lock is activated: -calculating (S2) a yaw moment, Mdiff, of said vehicle (100), caused by said differential lock; and -compensating (S3) for a deviation from said desired curvature path (C1) caused by said yaw moment, Mdiff, such that a resulting steering angle is equal to or less than a maximum allowed steering angle of said vehicle (100), whereby said compensation is a feed forward compensation. The invention also relates to a control unit, a vehicle, a computer program and a computer readable medium.