{
  "$type": "site.standard.document",
  "description": "A method for controlling a vehicle that includes a motor configured to provide a driving/braking force to the vehicle and a friction braking mechanism configured to provide a friction brake force to the vehicle includes a target calculation step of calculating a target torque of the motor in…",
  "path": "/patents/1250319",
  "publishedAt": "2019-12-19T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60L15/2018",
    "Nissan Motor Co., Ltd."
  ],
  "textContent": "A method for controlling a vehicle that includes a motor configured to provide a driving/braking force to the vehicle and a friction braking mechanism configured to provide a friction brake force to the vehicle includes a target calculation step of calculating a target torque of the motor in accordance with a displacement of an accelerator pedal, a gradient estimation step of estimating a gradient torque to cancel a disturbance due to a gradient of a road surface where the vehicle is travelling, a command calculation step of calculating a torque command value of the motor based on the gradient torque and the target torque, a control step of controlling a torque of the motor in accordance with the torque command value, and a stop control step.",
  "title": "VEHICLE CONTROL DEVICE AND CONTROL METHOD"
}