{
  "$type": "site.standard.document",
  "description": "A vehicle body speed estimation method applied to a four-wheel drive vehicle includes: acquiring an estimated vehicle body speed based on wheel speeds or a longitudinal acceleration of the vehicle; determining whether an operation condition that includes at least a condition that the estimated…",
  "path": "/patents/1332964",
  "publishedAt": "2022-12-08T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18109",
    "TOYOTA JIDOSHAKABUSHIKI KAISHA"
  ],
  "textContent": "A vehicle body speed estimation method applied to a four-wheel drive vehicle includes: acquiring an estimated vehicle body speed based on wheel speeds or a longitudinal acceleration of the vehicle; determining whether an operation condition that includes at least a condition that the estimated vehicle body speed is higher than an operation determination speed is satisfied; performing torque limitation to reduce a torque of a portion of wheels of the vehicle when the operation condition is satisfied; determining whether a stop condition that includes a condition that the estimated vehicle body speed is lower than or equal to a stop determination speed or a condition that a duration of a state where a wheel acceleration of the portion of the wheels is higher than zero is longer than or equal to a set period of time; and stopping the torque limitation when the stop condition is satisfied.",
  "title": "VEHICLE BODY SPEED ESTIMATION METHOD AND VEHICLE BODY SPEED ESTIMATION APPARATUS"
}