{
  "$type": "site.standard.document",
  "description": "The invention relates to a method and a controller for vehicle motion control. In order to coordinate the activities of several active chassis control systems a motion request (M_req) is first expressed by desired values (F_body_x_req, ..., T_body_phi_req) of body forces and/or torques…",
  "path": "/patents/1084747",
  "publishedAt": "2004-08-18T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60G17/016",
    "FORD GLOBAL TECH INC [US]"
  ],
  "textContent": "The invention relates to a method and a controller for vehicle motion control. In order to coordinate the activities of several active chassis control systems a motion request (M_req) is first expressed by desired values (F_body_x_req, ..., T_body_phi_req) of body forces and/or torques corresponding to the six degrees of freedom of the vehicle. Next, the requested commands (u_1, ..., u_n) for given actuators (A1, ... An) are calculated such that they can produce said desired values of body forces and/or torques. In an intermediate stage the requested tire forces (F_FL_x_req, ..., F_RR_z_req) may be calculated by the vehicle motion controller.",
  "title": "Method and device for vehicle motion control"
}