{
  "$type": "site.standard.document",
  "description": "In a control unit of an own vehicle, specifically in a deceleration judging section, a deceleration calculating section and a brake control section, in order to avoid contacting an obstacle in front of the vehicle, the vehicle is automatically braked based on an distance between the vehicle and the…",
  "path": "/patents/1110422",
  "publishedAt": "2001-09-05T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T7/22",
    "FUJI HEAVY IND LTD [JP]"
  ],
  "textContent": "In a control unit of an own vehicle, specifically in a deceleration judging section, a deceleration calculating section and a brake control section, in order to avoid contacting an obstacle in front of the vehicle, the vehicle is automatically braked based on an distance between the vehicle and the obstacle, a vehicle speed and a road gradient. When a braking distance judging section judges that the vehicle can not avoid a contact with the obstacle with a deceleration presently applied, a first yaw rate calculating section calculates a first yaw rate necessary to avoid a contact with the obstacle and a second yaw rate calculating section calculates a second yaw rate presently generating. Further, a target yaw rate establishing section compares an absolute value of the first yaw rate with an absolute value of the second yaw rate and establishes a larger one of these values as a target yaw rate. Finally, an automatic brake control section calculates a target braking force at least based on the target yaw rate and selects an object wheel to be braked. As a result, the vehicle takes an avoidance motion so as to turn around the obstacle.",
  "title": "Motion control system for vehicle"
}