| 摘要 |
A method and device for controlling wheel speed individually for each driven wheel (3, 6, 7, 23, 27, 26, 32, 33, 34) in a steerable vehicle (1, 21, 31, 85) comprising a front axle (2, 22, 81) and at least two rear axles (4, 5, 25, 82, 83) and having all wheel drive, said method comprising the steps of: -registering parameters and value of said parameters: a. steering angle of the vehicle, b. wheelbase of the vehicle and c. wheel track of the vehicle; -based upon said parameter values continuously during vehicle traveling calculating a wheel speed for each of said driven wheel which will minimize wheel slip; -controlling wheel speed individually for each said driven wheel in accordance with said calculated wheel speeds and; -if said wheelbase is altered, then automatically registering said altered wheelbase value and based on said new prevailing parameter values recalculating said wheel speeds for each driven wheel accordingly. |
