# US 2019/0168746 A1 · Vehicle and method for steering the vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168746 A1 - Document ID: US20190168746A1 - Status: Published application - Kind: A1 - Application number: 16/323,708 - Filed: 2017-05-23 - Published: 2019-06-06 - Earliest claimed: 2016-08-23 - Assignees: Schaeffler Technologies AG & Co. KG - Applicants: Schaeffler Technologies AG & Co. KG - Inventors: Juergen ROEMER; Marcel Philipp MAYER - Web page: https://patentgrep.com/patent/US20190168746A1 ## CPC - B60W 30/045: Improving turning performance - B60L 15/2036: {Electric differentials, e.g. for supporting steering vehicles} - B60W 10/08: including control of electric propulsion units, e.g. motors or generators - B60W 30/18145: {Cornering} - B62D 9/002: {combined with means for differentially distributing power on the deflectable wheels during cornering} - B60W 10/20: including control of steering systems - B60W 2520/403: between front and rear axle - B60W 2520/406: between left and right wheel - B60W 2540/18: Steering angle - B60W 2710/083: Torque - B60W 2720/403: between front and rear axle - B60W 2720/406: between left and right wheel - Y02T 10/64: Electric machine technologies in electromobility - Y02T 10/72: Electric energy management in electromobility - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract A vehicle comprising a steering axle, a steering device configured to steer the steering axle, wherein a steering wheel angle can be input via the steering device, wherein the steering wheel angle leadings to a steering angle of wheels of the steering axle, and a quotient of the steering wheel angle to the steering angle defines a steering ratio, a first drive, wherein the first drive allows a wheel-selective distribution of a first torque to the wheels of the steering axle, a second drive, wherein the second drive allows a wheel-selective distribution of a second torque to the wheels of a drive axle, and a controller configured to receive input variables defining driving dynamic variables of the vehicle, wherein the drive dynamic variables allow a change in the steering ratio to ascertained, and the controller outputs control information for distributing the drive torque. ## Claims ### Claim 1 A vehicle comprising: a steering device configured to steer a steering axle and a steering angle can be input via the steering device, which results in a turning angle of one or more wheels of the steering axle, wherein a quotient of the steering wheel angle divided by the turning angle defines a steering ratio; a first drive, wherein the first drive enables a wheel-selective distribution of a first drive torque to the wheels of the steering axle; and a drive axle and a second drive, wherein the second drive enables a wheel-selective distribution of a drive torque to the wheels of the drive axle, a control device for recording input values, wherein the input values form driving dynamics values for the vehicle, wherein the driving dynamics values enable a determination of a change in the steering ratio, and output a regulating datum, as an output value for distributing the drive torque of the second drive in order to reduce the change, or fully compensate for it, or which can be attributed to a target value. ### Claim 2 (depends on 1) The vehicle of claim 1, wherein the first drive or the second drive are wheel-selective drives. ### Claim 3 (depends on 1) The vehicle, of claim 1, wherein the control device is configured to determine the output values such that the steering ratio remains constant. ### Claim 4 (depends on 1) The vehicle of claim 1, wherein the control device is configured to determine the output values such that the steering ratio can be attributed to a target value. ### Claim 5 (depends on 4) The vehicle of claim 4, wherein the control device is configured to compensate for elastokinematic effects in the steering device. ### Claim 6 (depends on 5) The vehicle of claim 5, wherein the input values comprise a change in the drive torque distribution in the wheels of the steering axle, wherein the control device changes a regulating value based on the change in the drive torque distribution. ### Claim 7 (depends on 6) The vehicle of claim 6, wherein the vehicle further includes a torque vectoring control device configured to alter the drive torque distribution to the steering axle. ### Claim 8 (depends on 7) The vehicle of claim 7, wherein the drive torque distribution in the drive axle counteracts the drive torque distribution in the steering axle. ### Claim 9 (depends on 1) The vehicle of claim 1, wherein the control device is configured to acquire input values forming driving dynamics values for the vehicle, wherein the control device is further configured to determine an output value based on the input values, which forms a regulating datum for distributing the drive torque of the second drive. ### Claim 10 (canceled) ### Claim 11 A vehicle comprising: a steering axle; a steering device configured to steer the steering axle, wherein a steering wheel angle can be input via the steering device, wherein the steering wheel angle leads to a steering angle of wheels of the steering axle; and a quotient of the steering wheel angle to the steering angle defines a steering ratio; a first drive, wherein the first drive allows a wheel-selective distribution of a first torque to the wheels of the steering axle; a second drive, wherein the second drive allows a wheel-selective distribution of a second torque to the wheels of a drive axle; and a controller configured to receive input variables defining driving dynamic variables of the vehicle, wherein the drive dynamic variables allow a change in the steering ratio to ascertained, and the controller outputs control information for distributing drive torque of the second drive as an output variable in order to reduce or compensate for the change. ### Claim 12 (depends on 11) The vehicle of claim 11, wherein driven wheels are powered by the first drive, wherein the first drive is formed by one or more electric motors. ### Claim 13 (depends on 12) The vehicle of claim 12, wherein the one or more electric motors are disposed directly on the driven wheels. ### Claim 14 (depends on 11) The vehicle of claim 11, wherein the vehicle further includes a torque vectoring control device configured to alter the drive torque distribution to the steering axle. ### Claim 15 (depends on 14) The vehicle of claim 14, wherein the drive torque distribution in the drive axle counteracts the drive torque distribution in the steering axle. ### Claim 16 A method for a vehicle, comprising: determining a steering wheel angle from a steering device configured to steer a steering axle of the vehicle; determining a steering angle of wheels of the steering axle; determining a steering ratio based upon a quotient of the steering wheel angle to the steering angle; wheel-selectively distributing a first torque to the wheels of the steering axle via a first drive; wheel-selectively distributing a second torque to the wheels of the steering axle via a second drive; receiving input variables defining driving dynamic variables of the vehicle, wherein the drive dynamic variables allow a change in the steering ratio to be ascertained; outputting control information for distributing drive torque of the second drive as an output variable in order to reduce or compensate for the change. ### Claim 17 (depends on 16) The method of claim 16, wherein the method further includes powering driven wheels by the first drive; the first drive is formed by one or more electric motors. ### Claim 18 (depends on 16) The method of claim 16, wherein the method further includes acquiring driving dynamics values of the vehicle as input values. ### Claim 19 (depends on 18) The method of claim 18, wherein the driving dynamics values represent a speed of the vehicle or a drive torque distribution to the steering axle. ### Claim 20 (depends on 18) The method of claim 18, forming a regulating dataum for distributing drive torque of the second drive utilizing the input values.