Forward feedback compensation for handling a longitudinal disturbance during a brake-to-steer process

Abstract

The method comprises: • Implementing a brake-to-steer system (110) in a vehicle, including communicating a braking instruction to a braking system; • Calculating a driver intention based on a vehicle speed datum (104, 204), an accelerator pedal position datum (106), and at least one powertrain state datum (108); • Generating a desired vehicle speed (114) based on the driver intention; • Communicating the desired vehicle speed (114) to a longitudinal kinematic motion controller (112); • Generating a desired longitudinal acceleration (116, 216) by means of the longitudinal kinematic motion controller (112) based on the desired vehicle speed (114); • Communicating the desired longitudinal acceleration (116, 216) to a longitudinal forward coupling compensation module (120, 220); • Communicating the braking instruction (118, 218) to the longitudinal forward coupling compensation module (120, 220);and• Generating at least one drive torque request (122, 222) by means of the longitudinal forward coupling compensation module (120, 220) based on the desired longitudinal acceleration (116, 216) and the at least one braking instruction (118, 218).;

Description

Technical field

[0001] The area to which the disclosure generally relates includes steering, braking, and drive systems. background

[0002] Vehicles typically have steering systems comprising electronic power steering systems, which provide a steer-by-wire technology or brake-to-steer technology exhibit. A vehicle with a functioning steering system can maintain a constant speed, when a steering input is made. In a brake-to-steer scenario, applying the brakes to steer the vehicle causes the vehicle to steer. The vehicle slows down. This behavior may be undesirable for a driver. Summary of illustrative variations

[0003] Some illustrative variations may include a system which uses vehicle brakes to a To steer a vehicle. In such a system, a brake-to-steer function can prevent unwanted deceleration. of the vehicle. A system and a method for controlling vehicle deceleration during a brake-to- Once steer functionality is implemented, a feedforward feedback gain can be provided with respect to a vehicle drive torque included to achieve or maintain a target longitudinal acceleration and to ensure a To replicate the behavior of a vehicle that does not use brake-to-steer.

[0004] A system and a method for controlling vehicle speed and acceleration during a Once brake-to-steer functionality is implemented, it can provide powertrain torque requirements regarding a vehicle drive torque included to compensate for braking during a target longitudinal acceleration is achieved or maintained, and to replicate the behavior of a normally functioning car. The system can affect the vehicle's propulsion, causing longitudinal acceleration disturbances and speed disturbances to handle during a brake-to-steer operation.

[0005] Further illustrative variations within the scope of protection of the invention are shown by reference to the The detailed description provided below will make this clearer. It is understood that the detailed description and Specific examples, while disclosing variations of the invention, are provided solely for illustrative purposes. are provided and are not intended to limit the scope of protection of the invention. List of characters

[0006] Selected examples of variations within the scope of protection of the invention are shown by reference to the detailed The description and the accompanying characters are understood more comprehensively, whereby: Fig. 1 shows an illustrative variation of a block diagram of a system and a procedure for Handling a longitudinal disturbance during a brake-to-steer operation is shown; and Fig. 2 shows an illustrative variation of a block diagram of a system and a procedure for Shows how to handle a longitudinal disturbance during a brake-to-steer operation. Detailed description of illustrative variations

[0007] The following description of the variations is purely illustrative and is in no way intended to be a substitute for a proper description of the variations. intended to limit the scope of protection of the invention, its applications or uses.

[0008] In some illustrative variations, a vehicle may have a steering system. In such cases, The steering system can be manually operated by the driver via a steering interface; it can also be autonomously controlled by a The autonomous steering system can be operable, or it can be a combination of an autonomous and a manual system. Steering must be operable, with the steering system set up to receive steering inputs from a driver, from the autonomous Steering system, or receiving and interpreting signals from both at the same time. In some illustrative examples Variations include a steering interface, a handwheel, a joystick, a trackball, a slider, a push button, a toggle switch, a lever, a touchscreen, a mouse, or any other means of a Include user input.

[0009] In some illustrative variations, a vehicle may have a steering system which includes a A steering interface and a steerable drive system includes, but is not limited to, a steering wheel and road wheels. The steering system can be of the steer-by-wire type, in which physical mechanisms actuate the Steering interface does not communicate mechanically with the steerable drive system and at which Actuation of the steering interface, a connected actuation of the steerable drive system via communication electronic devices such as, but not limited to, sensors, transceivers, and electronically controlled devices Actuators. According to some variations, a steer-by-wire system can control at least one road wheel and at least one feature handwheel actuators which are in operational communication via a steer-by-wire system or a controller stand together. The steer-by-wire system can establish operational communication between a road wheel actuator system and a handwheel actuator system in which a rotation of the steering wheel or handwheel of a vehicle in This translates the operation of the road wheel actuator system, enabling a vehicle to drive around a curve.

[0010] The handwheel actuator arrangement can include a steering wheel, a handwheel actuator such as an electric motor, and a have a handwheel angle sensor. The handwheel actuator assembly can be designed and configured to have a to communicate the handwheel angle and position to the road wheel actuator assembly, which includes at least one It features a steering actuator that is designed and configured to swivel or rotate a road wheel.

[0011] In some illustrative variations, a vehicle may have an electronic braking system which is designed and set up to apply a braking pressure or braking force to any number of road wheels to exercise this ability to slow down or stop the vehicle based on a driver's handwheel input The electronic braking system can communicate with the system via at least one control unit. The steer-by-wire system, the handwheel actuator arrangement, and the road wheel actuator arrangement are available. The control can Implementing algorithms across any number of systems for monitoring and controlling a drive, a steering system and a brake system. According to some variations, the electronic braking system can be used to to apply a differential braking pressure or braking force to a number of wheels in order to prevent lateral movement to cause the vehicle to malfunction if part of a steer-by-wire system has a fault, such as a Interruption of function between the wheel actuator assembly and the road wheel actuator assembly.

[0012] In some illustrative variations, an electronic braking system can be a brake-to-steer system. comprehensively employ a brake-to-steer algorithm, which considers braking force requirements for individual wheels as a Function communicates driver steering inputs, which provide a steering angle, steering angle rate, and steering torque. This includes steering a vehicle. The brake-to-steer algorithm can communicate braking force requests when the system has detected an error or failure of a road wheel actuator, which does not result in any output capability a rack and pinion steering system. Alternatively, the brake-to-steer algorithm can communicate braking force requests. when the system has detected a handwheel actuator fault or a shutdown.

[0013] According to some variations, a brake-to-steer system can be controlled by an external domain controller. will be, which is designed and set up to implement a brake-to-steer functionality where a steer-by-wire The system, comprising handwheel actuators and road wheel actuators, loses power or fails completely. The brake- The to-steer functionality can control vehicle acceleration and speed, but is not limited to... Longitudinal disturbance, influence.

[0014] A system for handling a longitudinal disturbance in a vehicle can include monitoring of Braking force requirements for steering a vehicle during a brake-to-steer functionality are included. Braking force requirements can be converted into braking forces or braking torques, which are applied to a vehicle influence, which can be used to counteract a brake-to-steer process To calculate longitudinal acceleration disturbance. A driver's intention to accelerate longitudinally can be determined in accordance with Information is gathered from the engine, the transmission, and the accelerator pedal position. A forward coupling strategy for a drive torque can be based on the level of pressure exerted by The brake-to-steer system is applied in conjunction with the driver's intention. As not A limiting example is that the magnitude of the drive torque requirement can be equal to the braking torque, if a A constant longitudinal speed is desired. If it is determined that the driver needs to slow down the vehicle or If you want to speed things up, the feedforward instruction can be adjusted accordingly. According to some Design configurations can lead or lag the system dynamics of the powertrain, drive shaft, and vehicle. Filters are required, which are applied to the instruction. As a non-restrictive example, this can be the case with strong It would be physically impossible to maintain the desired longitudinal state with braking interventions, and the Forward feedback longitudinal compensation is intended to achieve the best possible performance, which is achieved through its ability The drive system is predetermined, relative to the braking system.

[0015] As a non-restrictive example, in a vehicle traveling along a roadway while a steering actuator is engaged... If the vehicle has a fault, a brake-to-steer functionality acts as a fallback mechanism for lateral steering. The vehicle's control system will be used. If the vehicle enters a curve or bend in the road, The brake-to-steer functionality applies brake pressure or braking force to steer the vehicle. The system A forward coupling drive torque request can be based on brake pressure instructions and the driver's intention. to calculate longitudinal acceleration. The system can enable the vehicle to achieve a desired longitudinal acceleration. to maintain how it is interpreted by the driver.

[0016] A system for handling a longitudinal disturbance in a vehicle can be within any number of Controls within a vehicle environment can be implemented in ways such as, but are not limited to, a Domain control or actuator control comprising electronic brake control units and Steering wheel actuators during steer-by-wire operation or a road wheel actuator failure.

[0017] A system for handling a longitudinal disturbance in a vehicle can be used within vehicles with a It may be implemented using traditional power steering or a steer-by-wire system, and also in vehicles designed for a operation is intended to be carried out by a human, or in self-driving vehicles. A system for handling a Longitudinal disturbance in a vehicle can be implemented in vehicles with internal combustion engines, either at the front or in vehicles with internal combustion engines that are driven on one axle at the rear, in vehicles with two axles driven Vehicles with electric drive systems that are either front or rear single-axle driven, in vehicles with electric drive systems that are driven on two axles, in vehicles with four electric drive systems, which control a moment with respect to all four wheels independently.

[0018] According to one variation, a system for handling a longitudinal disturbance in a vehicle can be in a The powertrain control module will be implemented, which receives information from electric braking systems and electric Steering systems receive information to determine the need to handle a longitudinal disturbance in a vehicle when a The brake-to-steer functionality is active.

[0019] Figures 1-2 are for illustrative purposes only. The functionality of different systems or algorithms can be demonstrated by One or more control systems can be implemented, which are located at any point in a vehicle. One or Several algorithms can be used and executed by one or more electronic processors to to achieve the procedures, effects, and functionalities described here.

[0020] Fig. 1 shows an illustrative variation of a block diagram of a system and a method for Handling a longitudinal disturbance in a vehicle during a brake-to-steer operation, which is a Longitudinal forward coupling compensation module 120 can have, which is designed and set up, To communicate drive torque requirements 122 to a drive system in a vehicle. Longitudinal forward coupling compensation module 120 can receive braking instructions 118 from a brake-to-steer module 110. received. The longitudinal feedforward compensation module 120 can additionally provide desired Longitudinal acceleration instructions 116 are received from a longitudinal kinematic motion controller 112. Longitudinal kinematic motion control 112 can determine desired vehicle speed requirements 114 from a Driver Intent Calculation Module 102 received. The Driver Intent Calculation Module 102 can receive vehicle data such as, but not limited to a vehicle speed 104, accelerator pedal position data 106, and Powertrain status data 108 is received. In this way, vehicle speed data 104, Accelerator pedal position data 106, and powertrain status data 108 with braking instructions 118 from a brake-to-steer system 110 can be combined to generate drive torque requirements 122 that are attached to a The drive system within the vehicle can be communicated, which enables a brake-to-steer process in such a way. This allows acceleration in the vehicle's drive system to be modified to achieve a desired longitudinal acceleration. and to maintain a speed as interpreted by a driver.

[0021] Fig. 2 shows an illustrative variation of a block diagram of a system and a method for Handling a longitudinal disturbance in a vehicle during a brake-to-steer operation, which is a Longitudinal forward coupling compensation module 220 may contain, which is constructed and set up, at least one Drive torque requirement based on the desired longitudinal acceleration and at least one To generate a braking instruction. The system can include: receiving a desired longitudinal acceleration 216, Calculating a target force 224, receiving at least one braking instruction 218 from a brake-to-steer system, and Generating a target driving force 226, which is applied to a vehicle speed-dependent The forward feedback amplification module 228 is communicated. The target force 224 can be the estimated total force. be the force exerted on a vehicle to achieve a desired acceleration. A target driving force 226 can be the estimated driving force required to counteract a force associated with vehicle braking. is connected so that a desired longitudinal acceleration is achieved. Vehicle speed data 204 They can communicate with the vehicle speed-dependent forward coupling amplification module 228. The vehicle speed-dependent forward coupling amplification module 228 can provide a drive torque request 222 generate. The system can communicate at least one drive torque request 222 to a Drive system within a vehicle and influencing the drive system to handle a longitudinal disturbance This includes, but is not limited to, reducing the deceleration of the vehicle during a brake-to-steer maneuver. Process.

[0022] The following description of variants is only illustrative of components, elements, processes, Products and processes which are considered to be within the scope of protection of the invention and which are in no way intended to create such a protected area through what is specifically disclosed or not explicitly stated to limit the execution. The components, elements, effects, products and processes described here. They can be combined and rearranged differently than explicitly described here and are still considered to be self-contained. considered to be located within the scope of protection of the invention.

[0023] According to variation 1, a method may include: calculating a driver intent based on a Vehicle speed data and / or an accelerator pedal position data and / or at least one Powertrain status data; generating a desired vehicle speed based on driver intent; Communicating the desired vehicle speed to a longitudinal kinematic motion control system; generating a desired longitudinal acceleration based on the desired vehicle speed; communicating the desired longitudinal acceleration to a longitudinal forward coupling compensation module; communicating at least one Braking instruction to the longitudinal forward coupling compensation module; and generation of at least one Drive torque requirement based on the desired longitudinal acceleration and at least one Braking instructions.

[0024] Variation 2 can include a method according to Variation 1, which further includes communication of at least one This includes the drive torque requirement for a drive system within a vehicle.

[0025] Variation 3 can include a method according to one of Variations 1 to 2, which further influences a The vehicle's drive system is designed to handle longitudinal disturbances during a brake-to-steer operation.

[0026] Variation 4 can include a method according to one of variations 1 to 3, wherein influencing the vehicle To handle a longitudinal disturbance during a brake-to-steer operation, an increase and / or a decrease includes the acceleration of the vehicle via a drive system within the vehicle.

[0027] Variation 5 can comprise a method according to one of variations 1 to 4, wherein the generation of at least one Drive torque requirement based on the desired longitudinal acceleration and at least one Braking instruction includes: receiving a desired longitudinal acceleration data; calculating a target force; Receiving at least one braking instruction from a brake-to-steer system; calculating a target driving force. based on the target force and at least one braking instruction; communicating the target driving force to a Vehicle speed-dependent forward coupling amplification module; communication of the Vehicle speed data to the vehicle speed-dependent forward coupling amplification module; and Generate at least one drive torque request.

[0028] Variation 6 can include a method according to one of Variations 1 to 5, which further comprises: Receiving a vehicle speed data and / or an accelerator pedal position data and / or at least one Powertrain state date prior to determining driver intent, based on a vehicle speed date and / or an accelerator pedal position date and / or at least a powertrain status date.

[0029] Variation 7 can include a method according to one of variations 1 to 6, wherein the determination of the driver's intention a correlation of the vehicle speed data, the accelerator pedal position data, and the Powertrain status data is used to determine whether a driver wishes to change a vehicle speed. to maintain and / or increase and / or decrease.

[0030] Variation 8 can include a method according to one of variations 1 to 7, wherein the communication of the at least one braking instruction to the longitudinal forward coupling compensation module a communication of at least one braking instruction to the longitudinal forward coupling compensation module from a brake-to-steer system included.

[0031] According to variation 9, a method can be used in a vehicle, wherein the vehicle a variety of vehicle systems, which include: a braking system that is set up, a brake set to operate, a steering system that is set up to adjust a road wheel direction, a drive system that is equipped to transmit drive power to at least one road wheel, a brake-to-steer system, and a Control system that is in operational communication with the braking system, the steering system, and the drive system. The method may include: implementing the brake-to-steer system within the vehicle, encompassing a Communicating braking instructions to the braking system; generating vehicle speed data; generating of an accelerator pedal position data; generating at least one powertrain state data; communicating the vehicle speed data and / or the accelerator pedal position data and / or at least one Powertrain state data to a driver intent function; determining driver intent based on the Vehicle speed data and / or accelerator pedal position data and / or at least one Powertrain status data to determine a desired vehicle speed; communicating the desired vehicle speed to a longitudinal kinematic motion control; generating a desired Longitudinal acceleration based on the desired vehicle speed over the Longitudinal kinematic motion control; communicating the desired longitudinal acceleration to a Longitudinal forward coupling compensation module; and communication of braking instructions to a Longitudinal forward coupling compensation module, which is designed and set up to meet drive torque requirements. to communicate with the vehicle's drive system.

[0032] Variation 10 can include a method according to Variation 9, which further influences the drive of the Vehicle includes, in order to handle a longitudinal disturbance during a brake-to-steer operation.

[0033] Variation 11 can comprise a method according to one of variations 9 to 10, wherein influencing the To handle a longitudinal disturbance in a vehicle during a brake-to-steer operation, an increase and / or a This includes reducing the vehicle's acceleration via a drive system within the vehicle.

[0034] Variation 12 may include a method according to one of Variations 9 to 11 and may further comprise: before the Communicating braking instructions to a longitudinal forward coupling compensation module, which is constructed and is set up to communicate drive torque requirements to the drive system in the vehicle, enabling the execution of the The following steps: Receiving a desired longitudinal acceleration data point; Calculating a target force; Receiving at least one braking instruction from a brake-to-steer system; calculating a target driving force. based on the target force and at least one braking instruction; communicating the target driving force to a Vehicle speed-dependent forward coupling amplification module; communication of the Vehicle speed data to the vehicle speed-dependent forward coupling amplification module; and Generate at least one drive torque request.

[0035] Variation 13 can comprise a method according to one of variations 9 to 12, wherein the determination of the Driver intent involves correlating vehicle speed data, accelerator pedal position data, and the Powertrain status data is used to determine whether a driver wishes to change a vehicle speed. to maintain and / or increase and / or decrease.

[0036] According to variation 14, a system for handling a longitudinal disturbance in a vehicle during a brake- The to-steer process includes the following steps, with the vehicle having a multitude of vehicle systems, a braking system designed to operate a set of brakes, a steering system designed to operate a to adapt to the direction of travel on the road, a drive system that is set up to supply drive power to at least one The road wheel transmission includes a brake-to-steer system and a control system that is in operational communication mode. with the braking system, the steering system, and the drive system. Receiving a Vehicle speed data; receiving accelerator pedal position data; receiving at least one Powertrain status data; calculating driver intent based on vehicle speed data and / or the Accelerator pedal position data and / or at least one powertrain state data point; generating a Desired vehicle speed based on driver intention; communicating the desired speed Vehicle speed is controlled by a longitudinal kinematic motion control system; generating a desired longitudinal acceleration. based on the desired vehicle speed; communicating the desired longitudinal acceleration to a Longitudinal forward coupling compensator tion module; and communicating at least one braking instruction to the longitudinal forward coupling compensation module from a brake-to-steer system. The system may further include: generating at least one Drive torque requirement based on the desired longitudinal acceleration and at least one Braking instruction comprising: receiving desired longitudinal acceleration data; calculating a target force; receiving at least one braking instruction from a brake-to-steer system; calculating a target driving force based on the Target force and at least one braking instruction; communicating the target driving force to a Vehicle speed-dependent forward coupling amplification module; communication of the Vehicle speed data to the vehicle speed-dependent forward coupling amplification module; and Generating at least one drive torque request. The system can further include: Communicating the at least one drive torque requirement to a drive system within a vehicle; and influencing a Vehicle propulsion to prevent longitudinal acceleration disturbance and speed disturbance during a brake-to- to handle the steer process.

[0037] The foregoing description of selected variations within the scope of protection of the invention is of a purely illustrative nature, and consequently variations or variants thereof are not to be considered a deviation. to be considered in terms of the spirit and scope of protection of the invention. Reference symbol list 102 Driver Intent Calculation Module 104 Vehicle speed 106 Accelerator pedal position 108 Powertrain condition 110 brake-to-steer system 112 Longitudinal kinematic motion control 114 desired vehicle speed 116 desired longitudinal acceleration 118 Braking Instructions 120 Longitudinal forward coupling compensation module 122 Drive torque requirement 204 Vehicle speed 216 desired longitudinal acceleration 218 Braking Instructions 220 Longitudinal forward coupling compensation module 222 Drive torque requirement 224 Target Force 226 Target driving force 228 Feedforward Gain Module

Claims

1. Demonstrating a process: • Calculating a driver intent based on a vehicle speed datum (104, 204) and / or a Accelerator pedal position date (106) and / or at least one powertrain status date (108); • Generating a desired vehicle speed (114) based on the driver's intention; • Communicating the desired vehicle speed (114) to a longitudinal kinematic motion control (112); • Generating a desired longitudinal acceleration (116, 216) based on the desired Vehicle speed (114); • Communicating the desired longitudinal acceleration (116, 216) to a Longitudinal forward coupling compensation module (120, 220); • Communicate at least one braking instruction (118, 218) to the longitudinal forward coupling compensation module (120, 220); and • Generating at least one drive torque request (122, 222) based on the desired Longitudinal acceleration (116, 216) and at least one braking instruction (118, 218).

2. The method according to claim 1 further comprising a communication of the at least one drive torque request (122, 222) to a propulsion system within a vehicle.

3. A method according to claim 1 or 2 further comprising influencing a drive system of the vehicle in order to achieve a To handle longitudinal disturbances during a brake-to-steer process.

4. Method according to one of the preceding claims, wherein influencing the drive of the vehicle for handling a longitudinal disturbance during a brake-to-steer process, an increase and / or a decrease in the acceleration of the The vehicle includes a drive system within the vehicle.

5. Method according to any one of the preceding claims, wherein the production of at least one Drive torque request (122, 222) based on the desired longitudinal acceleration (116, 216) and the at least one braking instruction (118, 218) has: • Receiving a data set for a desired longitudinal acceleration (116, 216); • Calculating a target force (224); • Receiving at least one braking instruction (118, 218) from a brake-to-steer system (110); • Calculating a target driving force (226) based on the target force (224) and at least one braking instruction (118, 218); • Communicating the target drive force (226) to a vehicle speed-dependent Forward feedback gain module (228); • Communicating the vehicle speed data (104, 204) to the vehicle speed-dependent Forward feedback gain module (228); and • Generating at least one drive torque request (122, 222).

6. Method according to any of the preceding claims further comprising: • Receiving a vehicle speed data (104, 204) and / or an accelerator pedal position data (106) and / or at least one powertrain state date (108) prior to determining driver intent, based on a vehicle speed date (104, 204) and / or an accelerator pedal position date (106), or at least one powertrain status date (108).

7. Method according to any of the preceding claims, wherein determining the driver's intent involves correlating Vehicle speed data (104, 204), accelerator pedal position data (106), and powertrain status data (108) includes determining whether a driver wishes to maintain the vehicle speed and / or to to increase and / or decrease.

8. Method according to one of the preceding claims, wherein the communication of at least one braking instruction (118, 218) to the longitudinal forward coupling compensation module (120) a communication of at least one braking instruction (118, 218) to the longitudinal forward coupling compensation module (120) of a brake-to-steer system (110).

9. Method for use in a vehicle with a plurality of vehicle systems comprising a braking system which is set up to operate a set of brakes, a steering system that is set up to adjust a road wheel direction, a drive system designed to transmit drive power to at least one road wheel, a brake-to- steer system (110), and a control system in operational communication with the braking system, the steering system, and the drive system, the procedure comprising: • Implementing the brake-to-steer system (110) within the vehicle, including communication of Braking instructions (118, 218) to the braking system; • Generating a vehicle speed data (104, 204); • Generating an accelerator pedal position data (106); • Generate at least one powertrain state data (108); • Communicating the vehicle speed data (104, 204) and / or the accelerator pedal position date (106) and / or at least one powertrain state date (108) to a Driver intent function; • Determining driver intent based on vehicle speed data (104, 204) and / or the accelerator pedal position date (106) and / or at least one powertrain state date (108) to obtain a to determine the desired vehicle speed (114); • Communicating the desired vehicle speed (114) to a longitudinal kinematic motion control (112); • Generating a desired longitudinal acceleration (116, 216) based on the desired Vehicle speed (114) via the longitudinal kinematic motion control (112); • Communicating the desired longitudinal acceleration (116, 216) to a Longitudinal forward coupling compensation module (120, 220); and • Communicate at least one braking instruction (118, 218) to a longitudinal forward coupling compensation module (120), which is designed and set up, drive torque requirements (122, 222) for the drive system in the To communicate with the vehicle.

10. The method according to claim 9 further comprising influencing a drive system of the vehicle in order to achieve a To handle longitudinal disturbances during a brake-to-steer process.

11. Method according to claim 9 or 10, wherein influencing the drive of the vehicle to handle a Longitudinal disturbance during a brake-to-steer process, an increase and / or a decrease in acceleration of the The vehicle includes a drive system within the vehicle.

12. Method according to one of claims 9 to 11 further comprising: before communicating braking instructions (118, 218) to a longitudinal forward coupling compensation module (120), which is constructed and set up, To communicate drive torque requirements (122, 222) to the drive system in the vehicle: • Receiving a desired longitudinal acceleration date (116, 216); • Calculating a target force (224); • Receiving at least one braking instruction (118, 218) from a brake-to-steer system (110); • Calculating a target driving force (226) based on the target force (224) and at least one braking instruction (118, 218); • Communicating the target drive force (226) to a vehicle speed-dependent Forward feedback gain module (228); • Communicating the vehicle speed data (104, 204) to the vehicle speed-dependent Forward feedback gain module (228); and • Generating at least one drive torque request (122, 222).

13. Method according to any one of claims 9 to 12, wherein determining the driver's intent involves correlating Vehicle speed data (104, 204), accelerator pedal position data (106), and powertrain status data (108) includes determining whether a driver wishes to maintain the vehicle speed and / or to to increase and / or decrease.

14. System for handling a longitudinal disturbance in a vehicle during a brake-to-steer operation, wherein the The vehicle has a variety of vehicle systems, including a braking system that is equipped with a brake set. to operate, a steering system that is set up to adjust a road wheel direction, a drive system that is equipped to transmit drive power to at least one road wheel, a brake-to-steer system (110), and a control system that is in operational communication with the braking system, the steering system, and the drive system stands, encompassing the system which features: • Receiving a vehicle speed data (104, 204); • Receiving an accelerator pedal position data (106); • Receiving at least one powertrain status data (108); • Calculating a driver intent based on vehicle speed data (104, 204) and / or the accelerator pedal position data (106) and / or at least one powertrain state data (108); • Generating a desired vehicle speed (114) based on the driver's intention; • Communicating the desired vehicle speed (114) to a longitudinal kinematic motion control (112); • Generating a desired longitudinal acceleration (116, 216) based on the desired Vehicle speed (114); • Communicating the desired longitudinal acceleration (116, 216) to a Longitudinal forward coupling compensation module (220); • Communicate at least one braking instruction (118, 218) to the longitudinal forward coupling compensation module (220) of a brake-to-steer system (110); and • Generating at least one drive torque request (122, 222) based on the desired Longitudinal acceleration (116, 216) and at least one braking instruction (118, 218), comprising: ◯ Receiving a desired longitudinal acceleration date (116, 216); ◯ Calculating a target force (224); ◯ Receiving at least one braking instruction (118, 218) from a brake-to-steer system (110); ◯ Calculating a target driving force (226) based on the target force (224) and at least one braking instruction (118, 218); ◯ Communicating the target drive force (226) to a vehicle speed-dependent Forward feedback gain module (228); ◯ Communicating the vehicle speed data (104, 204) to the vehicle speed-dependent Forward feedback gain module (228); and ◯ Generating at least one drive torque request (122, 222); • Communicating at least one drive torque request (122, 222) to a drive system within a vehicle; and • Influencing the vehicle's propulsion system to cause longitudinal acceleration disturbance and velocity disturbance to handle during a brake-to-steer operation.

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