Bayerische Motoren Werke Aktiengesellschaft

Ottmar-Ralf Orend

Hendrikus T Smakman

A method of guiding a multitrack vehicle on a curved path which is defined by the vehicle driver by way of a set steering angle or the like, a curved-path signal representing this desired curved path being guided in a form appropriately revised by an electronic control unit to a steering actuator influencing the steering angle of at least one steerable vehicle wheel is provided. The curved-path signal formed of the set steering angle and of the vehicle speed and, in particular, representing the yaw rate can be used in the sense of a pilot control not only for the appropriate controlling of the steering actuator but also for the appropriate change of the longitudinal force at the wheels of at least one vehicle side, so that, in addition to or instead of the setting of the steering angle, in addition or by itself, a longitudinal force can be applied to at least one vehicle wheel in order to travel the desired curved path. Preferably, the yawing moment fraction, which can be produced by the steering angle, and the yawing moment fraction, which can be produced by the application of a longitudinal force in the form of a braking force and/or a driving force, can be changed in a mutually opposite manner.

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Schwabach, Germany

Ottmar-Ralf Orend