US 12,097,772 B2
Systems and methods for controlling speed differential of wheels of a vehicle
Matthew Trainham, Rancho Santa Margarita, CA (US)
Assigned to Rivian IP Holdings, LLC, Plymouth, MI (US)
Filed by Rivian IP Holdings, LLC, Plymouth, MI (US)
Filed on Jul. 15, 2021, as Appl. No. 17/376,467.
Prior Publication US 2023/0021908 A1, Jan. 26, 2023
Int. Cl. B60L 15/20 (2006.01); B62D 9/00 (2006.01)
CPC B60L 15/2036 (2013.01) [B62D 9/002 (2013.01); B60L 2240/12 (2013.01); B60L 2240/24 (2013.01); B60L 2240/423 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling speed differential of wheels of a vehicle, the method comprising:
determining a wheel steering angle of the vehicle;
in response to determining the wheel steering angle of the vehicle is below a first wheel steering angle threshold, applying equal torque to first and second wheels of the vehicle;
in response to determining the wheel steering angle of the vehicle exceeds the first wheel steering angle threshold:
determining a differential wheel speed associated with a first wheel of the vehicle and a second wheel of the vehicle, wherein determining the differential wheel speed comprises:
determining a first target wheel speed for the first wheel based on the wheel steering angle and vehicle speed; and
determining a second target wheel speed for the second wheel based on the wheel steering angle and the vehicle speed; and
independently applying torque to the first and second wheels to achieve the first target wheel speed and the second target wheel speed; and
in response to determining the wheel steering angle of the vehicle continues to increase and exceeds a second wheel steering angle threshold greater than the first wheel steering angle threshold, providing an overcompensation factor to the first and second wheels.