Torque vectoring control method for vehicles

A control unit for reducing a lateral drift of a heavy-duty vehicle due to a road bank angle, wherein the heavy-duty vehicle is associated with a non-zero understeer/oversteer gradient, the control unit comprising:

• processing circuitry;
• a network interface coupled to the processing circuitry;
• and a memory coupled to the processing circuitry, wherein the memory comprises machine readable computer program instructions that, when executed by the processing circuitry, causes the control unit to:
• obtain a road bank angle of a road section the heavy-duty vehicle is about to traverse;
• obtain a vehicle model indicative of a vehicle motion response to the road bank angle where the vehicle model includes the understeer/oversteer gradient;
• determine, based on the road bank angle and the vehicle model, a first compensation torque for reducing the lateral drift of the heavy-duty vehicle at the road section;
• apply the first compensation torque across different wheels of the heavy-duty vehicle to reduce the lateral drift of the heavy-duty vehicle due to the road bank angle,
• wherein the heavy-duty vehicle comprises a towing unit and at least one towed unit connected by an articulation joint, where the vehicle model models a lateral coupling force at the articulation joint in response to the road bank angle.