{
  "$type": "site.standard.document",
  "description": "A method for controlling an electric vehicle including a plurality of driving wheels and a plurality of electric motors that generate driving forces respectively for the plurality of driving wheels, the method including: estimating a vehicle body speed for each of the driving wheels based on a…",
  "path": "/patents/1374871",
  "publishedAt": "2025-04-10T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60L15/20",
    "NISSAN MOTOR CO., LTD."
  ],
  "textContent": "A method for controlling an electric vehicle including a plurality of driving wheels and a plurality of electric motors that generate driving forces respectively for the plurality of driving wheels, the method including: estimating a vehicle body speed for each of the driving wheels based on a rotation speed of each of the electric motors; estimating, for each of the driving wheels, a driving wheel disturbance torque, which is a disturbance torque acting on the driving wheel, based on the vehicle body speed estimated for each of the driving wheels; estimating a vehicle disturbance torque, which is an actual disturbance torque acting on the entire electric vehicle, based on the driving wheel disturbance torque estimated for each of the driving wheels; and controlling a torque to be output by each of the plurality of electric motors based on the vehicle disturbance torque.",
  "title": "METHOD FOR CONTROLLING ELECTRIC VEHICLE AND DEVICE FOR CONTROLLING ELECTRIC VEHICLE"
}