Patent ID: 11945430
Assignee: VOLVO CAR CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 8:
9. A vehicle, comprising:
a wheel-individual brake system comprising at least one first actuator for applying a braking torque to individual wheels of the vehicle;
a power-train torque vectoring actuator system comprising at least one second actuator for applying a torque to individual wheels of the vehicle through a propulsion system; and
a vehicle motion control system configured to coordinate and synchronize the wheel-individual brake system and the power-train torque vectoring actuator system, the vehicle motion control system comprising:
a central control function module comprising a plurality of yaw torque controllers;
each yaw torque controller being configured to receive data including a driver input and a vehicle motion state to determine, based on the received data, a respective yaw torque for controlling a yaw behavior of the vehicle; and
the central control function module being configured to determine a driving situation based on the received data, arbitrate the plurality of yaw torques from individual yaw torque controllers to determine a single yaw torque based on the driving situation, to determine a prioritization order for the at least one first actuator and the at least one second actuator depending on the driving situation and an intended vehicle attribute describing desired characteristics of the vehicle, and to coordinate an execution of the single yaw torque by the wheel-individual brake system and the power-train torque vectoring actuator system to deliver a yaw torque request to the at least one first actuator and the at least one second actuator according to the determined prioritization in order to execute the single yaw torque.