{
  "$type": "site.standard.document",
  "description": "A travel assistance method sets a target value of a vehicle body slip angle that is an angle from a longitudinal direction of a vehicle body to a travel direction of a vehicle, as a target slip angle, based on vehicle speed and a steering angle (S2), estimates or detects an actual slip angle that…",
  "path": "/patents/1387060",
  "publishedAt": "2026-05-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T13/662",
    "NISSAN MOTOR [JP]"
  ],
  "textContent": "A travel assistance method sets a target value of a vehicle body slip angle that is an angle from a longitudinal direction of a vehicle body to a travel direction of a vehicle, as a target slip angle, based on vehicle speed and a steering angle (S2), estimates or detects an actual slip angle that is an actual vehicle body slip angle (S3), sets a target braking/driving force by, when a sign of the vehicle body slip angle rotating in a turning direction of the vehicle is defined as positive and a sign of the vehicle body slip angle rotating in an opposite direction to the turning direction is defined as negative, correcting a required braking/driving force in such a manner as to increase a braking/driving force for a rear wheel or reduce a braking/driving force generated on a front wheel when the actual slip angle is larger than the target slip angle and correcting the required braking/driving force in such a manner as to reduce a braking/driving force for the rear wheel or increase a braking/driving force generated on the front wheel when the actual slip angle is smaller than the target slip angle, and generates the target braking/driving force in the vehicle (S4 to S6).",
  "title": "TRAVEL ASSISTANCE METHOD AND TRAVEL ASSISTANCE DEVICE"
}