{
  "$type": "site.standard.document",
  "description": "A vehicle behavior control device comprises an actuator group including one or more actuators configured to drive a vehicle having four wheels; and a vehicle behavior controller configured to control operation of the actuator group, wherein the vehicle behavior controller is configured to: apply a…",
  "path": "/patents/1368047",
  "publishedAt": "2024-08-15T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/001",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "A vehicle behavior control device comprises an actuator group including one or more actuators configured to drive a vehicle having four wheels; and a vehicle behavior controller configured to control operation of the actuator group, wherein the vehicle behavior controller is configured to: apply a target motion to a two-wheeled model of a two-wheeled vehicle simulating the vehicle to calculate a velocity vector of a front wheel and a rear wheel, the velocity vector being necessary for obtaining the target motion, convert each of the velocity vector of the front wheel and the rear wheel into a centroid behavior, calculate a turning angle and a braking/driving force for each of the four wheels, based on the centroid behavior, and control the operation of the actuator group to enable each of the four wheels to output the turning angle and the braking/driving force that are calculated.",
  "title": "VEHICLE BEHAVIOR CONTROL DEVICE"
}