Vehicle with independently driven multiple axes, and controller which independently drives multiple axles
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United States of America Patent
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Apr 24, 2018
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N/A
app pub date -
Jun 23, 2014
filing date -
Nov 2, 2010
priority date (Note) -
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Abstract
A vehicle with independently driven multiple axles and a controller which independently drives the multiple axles are disclosed. The controller includes a first controller which determines a target control value including at least one of a mechanical steering angle of each of a plurality of wheels of a vehicle, a target yaw moment of the vehicle, a target longitudinal force of the vehicle, and a target wheel speed of each of the plurality of wheels; and a second controller which determines wheel torques of the plurality of wheels, which drive the plurality of wheels independently, based on the target control value, wherein the wheel torques of the plurality of wheels are different from one another.
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