Steering and yaw control for low speed, cruise control and low friction terrain

摘要

A method and system provide steering in cruise control, in low friction conditions, at low speed and in low range. The speed of individual vehicle wheels is repeatedly and automatically adjusted to ensure that the actual rate of turn of the vehicle approaches the theoretical rate of turn as demanded by the vehicle driver. It is noted that off-road cruise control has been proposed whereby a vehicle may maintain a pre-set speed over variable terrain. Such a system has the advantage that the vehicle driver, particularly a novice driver, can concentrate upon steering whilst allowing vehicle systems to automatically select a suitable transmission ratio and engine speed. Without the invention, the vehicle 11b may be prone to understeer and not following a theoretical vehicle path 13 associated with the steering wheel input of the driver.