{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
    "ref": {
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  "description": "A method and device for assisting a vehicle to tilt includes: receiving a first torque instruction output by a throttle assembly, and generating a second torque instruction, in which the first torque instruction is determined based on a manipulation degree applied to the throttle assembly, and the…",
  "path": "/patents/1413633",
  "publishedAt": "2024-06-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60L15/20",
    "NINEBOT BEIJING TECH CO LTD [CN]"
  ],
  "textContent": "A method and device for assisting a vehicle to tilt includes: receiving a first torque instruction output by a throttle assembly, and generating a second torque instruction, in which the first torque instruction is determined based on a manipulation degree applied to the throttle assembly, and the second torque instruction is determined based on attitude information of the vehicle; performing a weighted summation on the first torque instruction and the second torque instruction based on a first proportional coefficient of the first torque instruction and a second proportional coefficient of the second torque instruction to obtain a third torque instruction; and outputting the third torque instruction to a motor controller, and controlling a tilt angle of the vehicle by the motor controller based on the third torque instruction, in which the tilt angle of the vehicle is less than or equal to a target angle threshold.",
  "title": "METHOD AND DEVICE FOR ASSISTING VEHICLE TO TILT, VEHICLE AND COMPUTER STORAGE MEDIUM"
}