Patent ID: 11872892
Assignee: ROBERT BOSCH GMBH
Field: Transport (Mechanical engineering)
Classification: CPC B  Y | IPC B

Claim 8:
9. A control unit for operating a motor vehicle, which has multiple drive wheels and multiple drive machines, each of the drive machines is an electric machine and is allocated to a respective drive wheel of the drive wheels, the control unit configured to:
acquire a total setpoint drive torque;
acquire a current vehicle driving speed and a current steering angle;
determine respective wheel speeds of the drive wheels over a roadway as a function of the current vehicle driving speed, the current steering angle, and a known chassis geometry of the motor vehicle;
determine a setpoint wheel speed for each of the drive wheels as a function of the determined wheel speeds and the current steering angle in such a way that a radius of an actual curve path is set that is smaller than a radius of a setpoint curve path specified by a maximally possible steering angle in the process of which multiple drive wheels produce slip;
distribute the total setpoint drive torque to all drive wheels as a function of the wheel loads in order to influence the setpoint speed at the respective drive wheel; and
actuate each of the drive machines in order to adjust the setpoint wheel speed and the respective torque at the respective drive wheel.