{
  "$type": "site.standard.document",
  "description": "The vehicle turning control device for a vehicle includes a first road surface frictional coefficient calculator (), a second road surface frictional coefficient calculator (), a control gain calculator (), a target yaw rate calculator (), a target yaw rate corrector (), a first braking/driving…",
  "path": "/patents/1236069",
  "publishedAt": "2019-06-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/045",
    "NTN Corporation"
  ],
  "textContent": "The vehicle turning control device for a vehicle includes a first road surface frictional coefficient calculator (), a second road surface frictional coefficient calculator (), a control gain calculator (), a target yaw rate calculator (), a target yaw rate corrector (), a first braking/driving force calculator (), and a second braking/driving force calculator (). A second road surface frictional coefficient μ is obtained without braking/driving forces for respective wheels () being taken into consideration, and thus has a magnitude smaller than or equal to the magnitude of a first road surface frictional coefficient μ A braking/driving force command value calculator () calculates a braking/driving force command value from a braking/driving force (FA) and a braking/driving force (FB) which are respectively calculated with use of the first and second road surface frictional coefficients μ and μ",
  "title": "VEHICLE TURNING CONTROL DEVICE"
}