{
  "$type": "site.standard.document",
  "description": "A behavior control apparatus is provided which is configured to calculate a first normative yaw rate of the vehicle based on a vehicle speed, a steering angle and a lateral acceleration of the vehicle, to calculate a second normative yaw rate of the vehicle based on a vehicle speed and a steering…",
  "path": "/patents/1234397",
  "publishedAt": "2019-05-23T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/02",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "A behavior control apparatus is provided which is configured to calculate a first normative yaw rate of the vehicle based on a vehicle speed, a steering angle and a lateral acceleration of the vehicle, to calculate a second normative yaw rate of the vehicle based on a vehicle speed and a steering angle, to determine, when deflection control is not being performed, that vehicle behavior is unstable when an absolute value of a first yaw rate deviation between the first normative yaw rate and an actual yaw rate of the vehicle is larger than a first reference value, and to determine, when the deflection control is being performed, that vehicle behavior is unstable when an absolute value of a second yaw rate deviation between the second normative yaw rate and an actual yaw rate of the vehicle is larger than a second reference value.",
  "title": "BEHAVIOR CONTROL APPARATUS FOR VEHICLE"
}