{
  "$type": "site.standard.document",
  "description": "A target longitudinal force sum/yaw moment setting section (25) is provided which is configured to determine and set a target longitudinal force sum to be exerted on drive wheels (2), (3) by drive sources (4) and a target yaw moment of a vehicle (1). A failure detection section (26) is provided…",
  "path": "/patents/933802",
  "publishedAt": "2016-12-14T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60K17/356",
    "NTN TOYO BEARING CO LTD [JP]"
  ],
  "textContent": "A target longitudinal force sum/yaw moment setting section (25) is provided which is configured to determine and set a target longitudinal force sum to be exerted on drive wheels (2), (3) by drive sources (4) and a target yaw moment of a vehicle (1). A failure detection section (26) is provided which is configured to detect occurrence of a failure in the drive source (4) of each of the drive wheels (2), (3) and a drive system including a control system of the drive source (4). A one-wheel-failure control section (27) is provided which is configured to, when a failure of one of the wheels is detected by the failure detection section (26), drive the drive sources of all the remaining sound wheels so as to minimize a sum of squares of load factors of the sound wheels and to be matched with the target longitudinal force sum and the target yaw moment that are set.",
  "title": "VEHICLE CONTROL DEVICE OF FOUR-WHEEL INDEPENDENT DRIVE VEHICLE FOR WHEN ONE WHEEL IS LOST"
}