Method for controlling a motion of a vehicle, data processing apparatus, computer program, computer-readable storage medium, and vehicle propulsion system

A non-transitory computer-readable medium, comprising executable instructions that, when executed by a processor, facilitate performance of operations, comprising:

• receiving a total longitudinal force target value, a total lateral force target value and a total yaw moment target value applicable to a vehicle comprising at least one drive axle with a left output shaft and a right output shaft, and a power assisted steering unit;
• determining a first wheel torque value for the left output shaft and a second wheel torque value for the right output shaft which minimize a total power consumption of a drive axle and the power assisted steering unit under a condition that the total longitudinal force target value, the total lateral force target value, and the total yaw moment target value are met;
• and
• providing the first wheel torque value and the second wheel torque value to the drive axle.

A vehicle propulsion system comprising:

• a processor;
• and
• a memory that stores executable instructions that, when executed by the processor, facilitate performance of operations, comprising:
• receiving a total longitudinal force target value, a total lateral force target value and a total yaw moment target value applicable to a vehicle comprising at least one drive axle with a left output shaft and a right output shaft, and a power assisted steering unit;
• determining a first wheel torque value for the left output shaft and a second wheel torque value for the right output shaft which minimize a total power consumption of a drive axle and the power assisted steering unit under a condition that the total longitudinal force target value, the total lateral force target value, and the total yaw moment target value are met;
• and
• providing the first wheel torque value and the second wheel torque value to the drive axle.