{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
      "$link": "bafkreielnnmmejy33ox4mj2dzc3zg3luflq4vm5t2xjuvwd5rkfgrahneq"
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  "description": "Disclosed herein is a method of controlling traveling stability of a vehicle. In the present invention, a driver's desired yaw rate is estimated using a steering wheel angle and a reference speed of the vehicle while turning. The condition of a road surface the vehicle is traveling on is judged by…",
  "path": "/patents/1093700",
  "publishedAt": "2003-08-27T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60K31/12",
    "MANDO CORP [KR]"
  ],
  "textContent": "Disclosed herein is a method of controlling traveling stability of a vehicle. In the present invention, a driver's desired yaw rate is estimated using a steering wheel angle and a reference speed of the vehicle while turning. The condition of a road surface the vehicle is traveling on is judged by comparing lateral acceleration of the vehicle, estimated using the estimated yaw rate and a reference vehicle speed, with lateral acceleration actually measured by a lateral acceleration sensor. A driver's desired reference yaw rate is determined according to the judged road surface condition. It is determined whether a vehicle is understeered or oversteered by comparing the determined reference yaw rate with an actual yaw rate measured by a yaw rate sensor. According to the determined result, braking force and driving force of the vehicle are controlled, thus obtaining excellent vehicle stability.",
  "title": "Method of controlling travelling stability of vehicle"
}