A method for controlling a yaw motion of a vehicle

A method for controlling a yaw motion of a vehicle, the vehicle comprising a first set of steerable wheels and a second set of wheels, the vehicle comprising a first set of motion support devices for controlling a movement of said first set of steerable wheels, and at least one second motion support device for controlling a movement of said second set of wheels, whereby each motion support device in said first set of motion support devices is drivingly connected, directly or indirectly, to a respective individual wheel of the first set of steerable wheels, such that each motion support device out of the first set of motion support devices can produce a load via the respective individual wheel by propelling and/or braking the respective individual wheel, the method comprising:

• obtaining an indication of a desired yaw motion to be applied by the vehicle,
• determining whether or not the desired yaw motion is obtainable by the first set of steerable wheels by selecting a steering configuration for the said first set of steerable wheels, thereby producing a first yaw motion portion, and by operating said first set of motion support devices associated with said first set of steerable wheels so as to impart a first yaw moment on the vehicle, and thereby producing a second yaw motion portion, without exceeding one or more predetermined limits for the steering configuration and/or the first set of motion support devices associated with said first set of steerable wheels, and wherein the second yaw motion portion is based on a torque applied to each respective wheel of the first set of steerable wheels, and/or based on a wheel suspension scrub radius of each respective wheel of the first set of steerable wheels;
• in response to determining that the desired yaw motion cannot be obtained by the first set of steerable wheels without exceeding the one or more predetermined limits for the steering configuration and/or the first set of motion support devices associated with said first set of steerable wheels, operating the at least one second motion support device associated with said second set of wheels so as to impart a second yaw moment on the vehicle, wherein the second yaw moment is at least partly a resulting yaw moment produced by operating the at least one second motion support device to propel the vehicle, to achieve a yaw moment based on respective individual steering angles for the first set of steerable wheels.