Patent ID: 8825335

Claim:
A method for causing a change in yaw moment of a vehicle being subject to induced yaw moment variations due to altered torque or slip distribution between a front axle and a rear axle of said vehicle, comprising: determining at least one propulsion state of one or several wheels of said vehicle, determining the yaw tendency by estimating yaw moment variations of a vehicle from said at least one propulsion state, and utilizing said estimated yaw moment variations for changing the difference in torque, slip, or speed between a left wheel and a right wheel of said vehicle by i) calculating new values of the propulsion states of said left wheel and said right wheel counteracting the estimated yaw moment variations, and ii) applying said new values to said left wheel and said right wheel by means of a torque vectoring device which when activated applies a first torque to one of the wheels of an axle, resulting in a lateral torque distribution of said axle that is different from the otherwise fixed lateral torque distribution of 50/50 for an open differential, and a second torque to the other wheel of said axle, said first and second torque being superimposed net torques having opposite directions.