{
  "$type": "site.standard.document",
  "description": "A disclosed vehicle control device (10) includes a sum model (M1), a difference model (M2), a calculation unit (11), and a control unit (13). The sum model (M1) is obtained by modeling motion states of a left drive system and a right drive system when traveling straight. The difference model (M2)…",
  "path": "/patents/1417046",
  "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), a difference model (M2), a calculation unit (11), and a control unit (13). The sum model (M1) is obtained by modeling motion states of a left drive system and a right drive system when traveling straight. The difference model (M2) is obtained by modeling motion states of the left drive system and the right drive system at the time of turning. The calculation unit (11) calculates a sum mode target slip ratio (yS) equivalent to a sum of target values of slip ratios of a left wheel (5L) and a right wheel (5R) and a difference mode target slip ratio (yD) equivalent to a difference between the target values of the slip ratios. The control unit (13) controls driving forces of the left drive system and the right drive system using a sum mode instruction torque, which is obtained by applying the sum mode target slip ratio (yS) to the sum model (M1), and a difference mode instruction torque which is obtained by applying the difference mode target slip ratio (yD) to the difference model (M2).",
  "title": "VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD"
}