{
  "$type": "site.standard.document",
  "description": "Steering stability of a vehicle under a traveling state such as cornering is enhanced by controlling a state.of the vehicle based on cornering powers of right and left wheels. A detecting unit 1 detects action force containing longitudinal force Fx, lateral force Fy and vertical force Fz which act…",
  "path": "/patents/1081549",
  "publishedAt": "2004-12-15T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T8/1755",
    "FUJI HEAVY IND LTD [JP]"
  ],
  "textContent": "Steering stability of a vehicle under a traveling state such as cornering is enhanced by controlling a state.of the vehicle based on cornering powers of right and left wheels. A detecting unit 1 detects action force containing longitudinal force Fx, lateral force Fy and vertical force Fz which act on each wheel. A specifying unit 2 specifies a friction coefficient between the wheels and road surface. An estimating unit 6 estimates cornering power ka of each wheel based on the action force and the friction coefficient. A processing unit 7 determines control values so that the representative value ka_ave of the cornering powers concerning the right and left wheels is larger than the present value of the representative value ka_ave of the cornering powers concerning the right and left wheels. Controlling units 8 to 10 control the state of the vehicle based on the control values thus determined.",
  "title": "Vehicle control device and vehicle control method"
}