US 12,441,417 B2
Method and control device for controlling driving operation of an articulated tracked vehicle
Björn Nordberg, Örnsköldsvik (SE); Göran Westman, Moliden (SE); and Björn Hellholm, Arnäsvall (SE)
Assigned to Bae Systems Hägglunds Aktiebolag, Örnsköldsvik (SE)
Appl. No. 17/786,463
Filed by Bae Systems Hägglunds Aktiebolag, Örnsköldsvik (SE)
PCT Filed Dec. 11, 2020, PCT No. PCT/SE2020/051202
§ 371(c)(1), (2) Date Jun. 16, 2022,
PCT Pub. No. WO2021/126054, PCT Pub. Date Jun. 24, 2021.
Claims priority of application No. 1951491-8 (SE), filed on Dec. 18, 2019.
Prior Publication US 2023/0035352 A1, Feb. 2, 2023
Int. Cl. B62D 55/065 (2006.01); B60K 17/348 (2006.01); B62D 7/02 (2006.01); B62D 11/20 (2006.01); B62D 12/00 (2006.01); B62D 47/02 (2006.01)
CPC B62D 55/0655 (2013.01) [B60K 17/348 (2013.01); B62D 7/026 (2013.01); B62D 11/20 (2013.01); B62D 12/00 (2013.01); B60Y 2200/25 (2013.01); B62D 47/025 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method performed by a control device for controlling driving operation of an articulated tracked vehicle, said articulated tracked vehicle comprising a drive arrangement for driving drive wheels for operating the vehicle, the articulated tracked vehicle comprising a first vehicle unit and a second vehicle unit steerably connected to the first vehicle unit by means of a steering device for mutually pivoting said vehicle units, the mutual pivoting comprising steering movement about a steering axis, the steering device comprising a steering arrangement for said steering movement, the method comprising the steps of:
controlling the steering arrangement of the steering device so as to control mutual steering movement of said vehicle units for dynamic stability control based on one or more of: steering angle between said vehicle units; power of said drive arrangement; speed of drive wheels; speed of transmission; steering wheel angle of steering wheel of vehicle.