{
  "$type": "site.standard.document",
  "description": "A vehicle control device (10) of a vehicle including left and right drive systems includes a calculation unit (13), a sum model, a difference model, a state calculation unit (14), and a control unit (15). The calculation unit (13) calculates a sum equivalent value equivalent to a sum of required…",
  "path": "/patents/1427552",
  "publishedAt": "2026-06-24T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60L15/20",
    "MITSUBISHI MOTORS CORP [JP]"
  ],
  "textContent": "A vehicle control device (10) of a vehicle including left and right drive systems includes a calculation unit (13), a sum model, a difference model, a state calculation unit (14), and a control unit (15). The calculation unit (13) calculates a sum equivalent value equivalent to a sum of required left and right torques and a difference equivalent value equivalent to a difference between the required left and right torques. The sum model is a model that is obtained by modeling motion states of the left and right drive systems during straight traveling of the vehicle (1) and to which the sum equivalent value is applied. The difference model is a model that is obtained by modeling motion states of the left and right drive systems during turning of the vehicle (1) and to which the difference equivalent value is applied. The control unit (15) controls outputs of the left drive source and the right drive source using a sum mode instruction torque and a difference mode instruction torque obtained by applying the sum equivalent value and the difference equivalent value to the sum model and the difference model, respectively. The state calculation unit (14) calculates a road surface state value. A load side inertia moment configuring a transfer function included in each of the sum model and the difference model is calculated based on the road surface state value.",
  "title": "VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD"
}