| 摘要 |
The invention relates to a device (27, 29) for compensating an abnormal yawing moment in a vehicle having at least two wheel-individual drives (3, 5). In vehicles having a plurality of wheel-individual electric drives in particular, wear or severe stress can result in a defect in an individual drive. Since said drive is coupled to an individual wheel (9) of the vehicle, a severe, abnormal yawing moment can be produced on the vehicle, which if not counteracted can result in swerving of the vehicle. According to the invention, when an event indicating an abnormal yawing moment of the vehicle is detected, during which a wheel of the vehicle is excessively slowed down owing to a defect in a wheel-individual drive assigned to the wheel, the abnormal yawing moment is at least partially compensated by effecting a compensatory yawing moment by targeted slowing down of one or a plurality of other wheels (7) of the vehicle. |
