{
  "$type": "site.standard.document",
  "description": "Provided is a motion controlling apparatus for a vehicle which can achieve improvement in drivability, stability, and driving comfort. The motion controlling apparatus includes: a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction…",
  "path": "/patents/949588",
  "publishedAt": "2015-08-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60L15/20",
    "HITACHI AUTOMOTIVE SYSTEMS LTD [JP]"
  ],
  "textContent": "Provided is a motion controlling apparatus for a vehicle which can achieve improvement in drivability, stability, and driving comfort. The motion controlling apparatus includes: a control unit for controlling driving forces of vehicle wheels; a vehicle acceleration/deceleration instruction calculator for calculating an acceleration/deceleration instruction value on the basis of a lateral jerk; a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk; and a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information. The motion controlling apparatus further includes: a first mode for generating, on the basis of the acceleration/deceleration instruction value, substantially equal driving forces on left and right wheels from among four wheels to control acceleration/deceleration; a second mode for generating, on the basis of the first vehicle yaw moment instruction value, different driving forces on the left and right wheels from among the four wheels to control a yaw moment; and a third mode for generating, on the basis of the second vehicle yaw moment instruction value, different driving forces on the left and right wheels from among the four wheels to control the yaw moment.",
  "title": "VEHICLE MOTION CONTROL DEVICE"
}