{
  "$type": "site.standard.document",
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  "description": "A driving force control device for separately controlling a driving force of drive wheels is configured to: acquire a detection value of a steering angle, a speed of the drive wheels, and a speed of the vehicle; set a driving force generated in each drive wheel; control the driving force of each…",
  "path": "/patents/1433511",
  "publishedAt": "2026-06-30T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60K23/0808",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "A driving force control device for separately controlling a driving force of drive wheels is configured to: acquire a detection value of a steering angle, a speed of the drive wheels, and a speed of the vehicle; set a driving force generated in each drive wheel; control the driving force of each drive wheel so as to become a set driving force; and set a driving force to be generated in at least one pair of the drive wheels, based on a value calculated by multiplying a difference between a speed difference between the a pair of drive wheels corresponding to a target yaw rate estimated from the steering angle and the speed of the vehicle and an acquired speed difference between the one pair of drive wheels by a coefficient based on at least one of a cornering stiffness and a driving stiffness of each drive wheel.",
  "title": "Driving force control device"
}