VEHICLE

摘要

vehicle. A vehicle with at least two front-mounted steerable wheels and at least the first and second rear-facing wheels arranged on opposite sides of the vehicle is provided with first and second electric motors adapted to apply driving torque and braking to the respective wheels. positioned at the rear. The first and second electric motors are controllable independently. At least one angle sensor is configured to provide an indicative output of a steer wheel steering angle. at least one speed sensor is configured to provide a speed indicative output is configured to provide a longitudinal vehicle speed indicative output. a vehicle yaw rate sensor is configured to provide an output indicating the measured vehicle yaw rate. the vehicle has a control means adapted to determine a target yaw rate from at least the steering angle of the steerable wheels and the longitudinal vehicle speed; determining a yaw rate error by comparing at least the measured yaw rate of the vehicle with said target yaw rate, and determining an amount of yaw torque required to correct or reduce the yaw rate error; and controlling the first and second electric motors to apply a differential torque amount to the respective first and second wheels positioned at the rear to thereby generate said amount of yaw torque.