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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| creator | LAINE, Leo VAIDYANATHAN, Karthik Ramanan |
| description | 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. |
| format | Patent |
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The invention also relates to a control unit, a vehicle, a computer program and a computer readable medium.</description><language>eng</language><subject>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</subject><creationdate>2021</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20211216&DB=EPODOC&CC=US&NR=2021387613A1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25542,76290</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20211216&DB=EPODOC&CC=US&NR=2021387613A1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>LAINE, Leo</creatorcontrib><creatorcontrib>VAIDYANATHAN, Karthik Ramanan</creatorcontrib><title>METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH</title><description>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.</description><subject>CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION</subject><subject>CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES</subject><subject>PERFORMING OPERATIONS</subject><subject>ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT</subject><subject>TRANSPORTING</subject><subject>VEHICLES IN GENERAL</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2021</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZLD2dQ3x8HdRcPMPUvBwDPP0c1dwVAhz9fB09nEFCvr4-IcDBVxcgz2DXF0UnEODwhxDQoNcFQIcQzx4GFjTEnOKU3mhNDeDsptriLOHbmpBfnxqcUFicmpeakl8aLCRgZGhsYW5maGxo6ExcaoAUjEp4A</recordid><startdate>20211216</startdate><enddate>20211216</enddate><creator>LAINE, Leo</creator><creator>VAIDYANATHAN, Karthik Ramanan</creator><scope>EVB</scope></search><sort><creationdate>20211216</creationdate><title>METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH</title><author>LAINE, Leo ; VAIDYANATHAN, Karthik Ramanan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_US2021387613A13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2021</creationdate><topic>CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION</topic><topic>CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES</topic><topic>PERFORMING OPERATIONS</topic><topic>ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT</topic><topic>TRANSPORTING</topic><topic>VEHICLES IN GENERAL</topic><toplevel>online_resources</toplevel><creatorcontrib>LAINE, Leo</creatorcontrib><creatorcontrib>VAIDYANATHAN, Karthik Ramanan</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>LAINE, Leo</au><au>VAIDYANATHAN, Karthik Ramanan</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH</title><date>2021-12-16</date><risdate>2021</risdate><abstract>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.</abstract><oa>free_for_read</oa></addata></record> |
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| language | eng |
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| subjects | 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 |
| title | METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH |
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