{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/1306394",
  "publishedAt": "2021-12-16T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/045",
    "VOLVO TRUCK CORPORATION"
  ],
  "textContent": "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.",
  "title": "METHOD FOR HAVING A VEHICLE FOLLOW A DESIRED CURVATURE PATH"
}