{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
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  "description": "This vehicle turning control device controls the turning characteristic of a vehicle having braking/driving sources capable of independently controlling a braking/driving torque for each wheel. The vehicle turning control device includes a yaw moment control device for controlling a yaw moment…",
  "path": "/patents/1240688",
  "publishedAt": "2019-08-08T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/045",
    "NTN CORPORATION"
  ],
  "textContent": "This vehicle turning control device controls the turning characteristic of a vehicle having braking/driving sources capable of independently controlling a braking/driving torque for each wheel. The vehicle turning control device includes a yaw moment control device for controlling a yaw moment occurring in the vehicle, and a slip determination device for determining a road surface state from the angular velocity and the angular acceleration of the wheel and the vehicle speed. The yaw moment control device includes a control gain calculator for calculating a control gain, a target yaw rate calculator for calculating a target yaw rate from the vehicle speed, the steering angle, and the control gain, and a yaw moment calculator for calculating the braking/driving torque for each wheel in accordance with the target yaw rate. The control gain calculator calculates the control gain on the basis of a determination result of the slip determination device.",
  "title": "VEHICLE TURNING CONTROL APPARATUS"
}