METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH

The present invention relates to a method for having a vehicle () follow a desired curvature path (C), said vehicle () comprising at least one differential () with a differential lock connected to at least one driven wheel axle () of said vehicle (), said method comprising at least the following steps: —providing (S1) information regarding state of said differential lock, said state being either that said differential lock is activated or unlocked, and when said differential lock is activated: —calculating (S2) a yaw moment, M, of said vehicle (), caused by said differential lock; and —compensating (S3) for a deviation from said desired curvature path (C) caused by said yaw moment, M, such that a resulting steering angle is equal to or less than a maximum allowed steering angle of said vehicle (), whereby said compensation is a feed forward compensation. The invention also relates to a control unit, a vehicle, a computer program and a computer readable medium.