{
  "$type": "site.standard.document",
  "description": "A disclosed vehicle control device (10) includes a sum model (M1) that is obtained by modeling motion states of a left drive system and a right drive system during straight traveling, a difference model (M2) that is obtained by modeling motion states of the left drive system and the right drive…",
  "path": "/patents/1417050",
  "publishedAt": "2026-06-17T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60L15/20",
    "UNIV TOKYO [JP]"
  ],
  "textContent": "A disclosed vehicle control device (10) includes a sum model (M1) that is obtained by modeling motion states of a left drive system and a right drive system during straight traveling, a difference model (M2) that is obtained by modeling motion states of the left drive system and the right drive system during turning, a calculation unit (11), a limiting unit (12), and a control unit (13). The calculation unit (11) calculates a sum mode target slip ratio (yS) and a difference mode target slip ratio (yD). The limiting unit (12) limits the sum mode target slip ratio (yS) and the difference mode target slip ratio (yD) by upper and lower limit values. The control unit (13) controls driving forces of the left drive system and the right drive system, based on the limited sum mode target slip ratio (yS) and difference mode target slip ratio (yD), the sum model (M1), and the difference model (M2). The upper and lower limit values of the sum mode target slip ratio (yS) are variably set.",
  "title": "VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD"
}