Steering Skew Compensation for Multi-Drive Vehicles

The patent segments the total driving force determination into individual drive machine-level determinations. Instead of calculating a single total driving force for the entire drive train, the system determines the driving force for each drive machine separately (e.g., internal combustion engine, electric motor) and uses these individual values to calculate the compensation steering torque. This segmentation resolves the contradiction by maintaining calculation simplicity while improving precision through individualized measurement.

The patent applies segmentation to compensation variables by maintaining separate compensation variables for each drive machine rather than a single drive train-wide variable. Each drive machine has its own compensation variable that is specifically calibrated for that machine's skewing characteristics. This allows the control system to reliably compensate for skewing effects even when multiple drive machines are operating simultaneously, as each machine's unique skewing behavior is accounted for individually.

The patent implements a universal control architecture where a single control unit manages all drive machines and performs all necessary calculations. The control system uses multi-functional processing to handle individual driving force determination, compensation variable retrieval, and control variable calculation for each drive machine within a unified framework. This universal approach improves reliability through individualized compensation while managing complexity through centralized control rather than requiring separate independent systems for each drive machine.