METHOD AND SYSTEM FOR ENHANCED YAW RESPONSE FOR A VEHICLE

A method and a system for controlling wheel torques of a vehicle (201) to provide a desired vehicle yaw torque during a cornering event. A set of indirect yaw torque parameters (a,k) indicative of the indirect vehicle yaw torque contribution from lateral wheel forces are determined based on the present wheel torque data (PtTq) and the lateral acceleration data (LatAcc) and a model. A required torque for the front axis wheels (202, 204) and a required torque for the rear axis wheels (206, 208) are calculated such that the desired longitudinal wheel torque and the target vehicle yaw (M) provided, taking into account the set of indirect yaw torque parameters. The calculated torques are applied to the respective individual wheels.