Controlling motion of a vehicle

A vehicle configured to execute a method for controlling motion of said vehicle, the method comprising:

• obtaining input information on a vector related to a velocity of said vehicle;
• computing repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques;
• and
• applying the obtained target trial torques to the at least one wheel for controlling the motion of said vehicle,
• wherein:
• the vector related to the velocity of said vehicle comprises at least two of a transversal velocity of said vehicle, a longitudinal velocity of said vehicle, a yaw rate of said vehicle, and a ratio of the transversal velocity of said vehicle and the longitudinal velocity of said vehicle or any derivative or integrated quantity of the above quantities;
• said input information further comprises information on a motion target of said vehicle, wherein the motion target of said vehicle is an input provided by a driver;
• said input information further comprises respective angular velocities of all four wheels of the vehicle as well as a yaw rate of said vehicle;
• optimizing said future trajectory includes controlling said yaw rate of said vehicle;
• and
• the trial torques to be applied to at least one wheel of said vehicle are calculated by comparing a computed future trajectory with a target trajectory, and determining whether the computed future trajectory is close to a target trajectory.

A device comprising an interface to a vehicle, said vehicle providing input information on a vector related to a velocity of said vehicle to said device via said interface, wherein said device is configured to:

• compute repeatably a future trajectory of said vehicle based on said input information and trial torques to be applied to at least one wheel of said vehicle for optimizing said future trajectory in view of a target vehicle motion, thereby obtaining target trial torques;
• and
• output the obtained target trial torques to said vehicle to be applied to the at least one wheel for controlling the motion of said vehicle,
• wherein:
• the vector related to the velocity of said vehicle comprises at least two of a transversal velocity of said vehicle, a longitudinal velocity of said vehicle, a yaw rate of said vehicle, and a ratio of the transversal velocity of said vehicle and the longitudinal velocity of said vehicle or any derivative or integrated quantity of the above quantities;
• said input information further comprises information on a motion target of said vehicle, wherein the motion target of said vehicle is an input provided by a driver;
• said input information further comprises respective angular velocities of all four wheels of the vehicle as well as a yaw rate of said vehicle;
• optimizing said future trajectory includes controlling said yaw rate of said vehicle;
• and
• the trial torques to be applied to at least one wheel of said vehicle are calculated by comparing a computed future trajectory with a target trajectory, and determining whether the computed future trajectory is close to a target trajectory.