{
  "$type": "site.standard.document",
  "description": "An acquisition part (710) acquires the rotational speeds (É FL , É FR , É RL , É RR ) of a plurality of driving wheels (WH FL , WH FR , WH RL , WH RR ) of a moving vehicle (MV), and normal reaction forces (N FL , N FR , N RL , N RR ) acting on the plurality of driving wheels (WH FL , WH FR , WH RL…",
  "path": "/patents/958928",
  "publishedAt": "2015-07-29T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60L15/38",
    "PIONEER CORP [JP]"
  ],
  "textContent": "An acquisition part (710) acquires the rotational speeds (É FL , É FR , É RL , É RR ) of a plurality of driving wheels (WH FL , WH FR , WH RL , WH RR ) of a moving vehicle (MV), and normal reaction forces (N FL , N FR , N RL , N RR ) acting on the plurality of driving wheels (WH FL , WH FR , WH RL , WH RR ). Subsequently, a friction coefficient information calculation part (720) calculates friction coefficients (µ FL , µ FR, µ RL, µ RR ) relating to the plurality of driving wheels (WH FL , WH FR , WH RL , WH RR ) on the basis of torque command values for the plurality of driving wheels (WH FL , WH FR , WH RL, WH RR ) transmitted from a torque control part (740) and the results of acquisition by the acquisition part (710). A slip ratio calculation part (730) calculates the slip ratios (» FL , » FR, » RL, » RR ) of the plurality of driving wheels (WH FL, WH FR , WH RL, WH RR ) on the basis of the calculated friction coefficients (µ FL, µ FR, µ RL, µ RR ), and the rotational speeds (É FL , É FR, É RL , É RR ) acquired by the acquisition part (710). Consequently, the slip ratios of the respective driving wheels are easily, rapidly, and accurately estimated.",
  "title": "SLIP RATIO ESTIMATION DEVICE AND SLIP RATIO ESTIMATION METHOD"
}