The present invention relates to a method for having a vehicle (100) follow a desired curvature path (C1). The vehicle (100) comprises at least one differential (10, 20, 30) with a differential lock connected to at least one driven wheel axle (40, 50) of the vehicle (100), and the method comprises at least the following steps of providing (S1) information regarding state of the differential lock, the 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 the vehicle (100), caused by the 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 the compensation is a feed forward compensation. The invention also relates to a control unit, a vehicle, a computer program and a computer readable medium.
本发明涉及一种用于使得车辆(100)遵循期望曲率路径(C1)的方法,所述车辆(100)包括至少一个差速器(10、20、30),该至少一个差速器(10、20、30)具有连接到所述车辆(100)的至少一个从动轮车轴(40、50)的差速器锁,所述方法包括至少以下步骤:提供(S1)关于所述差速器锁的状态的信息,所述状态为所述差速器锁被激活或被解锁,并且当所述差速器锁被激活时:计算(S2)由所述差速器锁引起的所述车辆(100)的横摆力矩Mdiff;以及补偿(S3)由横摆力矩Mdiff引起的与所述期望曲率路径(C1)的偏差,使得所得到的转向角等于或小于所述车辆(100)的最大允许转向角,由此所述补偿是前馈补偿。本发明还涉及一种控制单元、一种车辆、一种计算机程序和一种计算机可读介质。
METHOD FOR HAVING VEHICLE FOLLOW DESIRED CURVATURE PATH
用于使得车辆遵循期望曲率路径的方法
2021-06-01
Patent
Elektronische Ressource
Chinesisch
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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