{
  "$type": "site.standard.document",
  "description": "A method for dynamically controlling a vehicle having at least one wheel includes: measuring a wheel speed of the at least one wheel as a measured wheel speed; determining whether the measured wheel speed exceeds a slip value threshold; and if the measured wheel speed exceeds the slip value…",
  "path": "/patents/1377587",
  "publishedAt": "2025-12-25T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T8/172",
    "Caterpillar Inc."
  ],
  "textContent": "A method for dynamically controlling a vehicle having at least one wheel includes: measuring a wheel speed of the at least one wheel as a measured wheel speed; determining whether the measured wheel speed exceeds a slip value threshold; and if the measured wheel speed exceeds the slip value threshold, calculating a wheel speed control value based on a center of gravity of the vehicle and at least one of: a vehicle mass of the vehicle, a vehicle slope of the vehicle, an articulation angle of the vehicle, a vehicle speed of the vehicle, and a vehicle direction of the vehicle; and controlling a desired wheel speed of the at least one wheel based on the wheel speed control value.",
  "title": "Dynamic Brake Biasing for Articulating Vehicles"
}