{
  "$type": "site.standard.document",
  "coverImage": {
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    "size": 73772
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  "description": "A vehicle (1) includes front-wheels (3) each of which is driven by a front-wheel driving motor (15) having a first motor characteristic and a speed reducer (16), and rear wheels (4) each of which is driven by a rear-wheel driving motor (18) having a second motor characteristic. An ECU (7)…",
  "path": "/patents/921451",
  "publishedAt": "2017-09-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60K17/02",
    "JTEKT CORP [JP]"
  ],
  "textContent": "A vehicle (1) includes front-wheels (3) each of which is driven by a front-wheel driving motor (15) having a first motor characteristic and a speed reducer (16), and rear wheels (4) each of which is driven by a rear-wheel driving motor (18) having a second motor characteristic. An ECU (7) calculates a total target wheel torque of all the wheels, and calculates target wheel torques for the respective front wheels and the respective rear wheels based on the total target wheel torque, the first motor characteristic, the second motor characteristic, and a characteristic of the speed reducer. The ECU calculates a target motor torque for the front-wheel driving motor based on a speed reduction ratio of the speed reducer and the target wheel torque for each front wheel, and calculates a target motor torque for the rear-wheel driving motor based on the target wheel torque for each rear wheel.",
  "title": "ELECTRIC VEHICLE"
}