Method for having a vehicle follow a desired curvature path
AssigneeVolvo Truck Corporation
InventorsLeo Laine, Karthik Ramanan Vaidyanathan
Life of this patent
Estimating the term…
Abstract
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.
Claims17
A method for having a vehicle follow a desired curvature path, said vehicle comprising at least one differential with a differential lock connected to at least one driven wheel axle of said vehicle, said method comprising at least the following steps:
- providing information regarding a 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 a yaw moment, Mdiff, of said vehicle, caused by said differential lock;
- and compensating for a deviation from said desired curvature path caused by said yaw moment, Mdiff, where a resulting steering angle is equal to or less than a maximum allowed steering angle of said vehicle, whereby said compensation is a feed forward compensation.
A controller for controlling a vehicle to follow a desired curvature path said vehicle comprising at least one differential with a differential lock connected to at least one driven wheel axle of said vehicle, said controller being configured for performing:
- providing information regarding a 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 a yaw moment, Mdiff, of said vehicle, caused by said differential lock;
- and compensating for a deviation from said desired curvature path caused by said yaw moment, Mdiff, where a resulting steering angle is equal to or less than a maximum allowed steering angle of said vehicle, whereby said compensation is a feed forward compensation.
A non-transitory computer readable medium carrying a computer program comprising program code, when said program code is run on a computer, for performing:
- providing information regarding a 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 a yaw moment, Mdiff, of said vehicle, caused by said differential lock;
- and compensating for a deviation from said desired curvature path caused by said yaw moment, Mdiff, where a resulting steering angle is equal to or less than a maximum allowed steering angle of said vehicle, whereby said compensation is a feed forward compensation.
Dependencies are inferred from the claim text.