The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 11, 2026
Filed:
Jul. 11, 2023
Mitsubishi Jidosha Kogyo Kabushiki Kaisha, Tokyo, JP;
The University of Tokyo, Tokyo, JP;
Ryota Takahashi, Tokyo, JP;
Hiroshi Fujimoto, Tokyo, JP;
Hiroyuki Fuse, Tokyo, JP;
Guangzhi Yu, Tokyo, JP;
Naoki Takahashi, Tokyo, JP;
Yutaro Okamura, Tokyo, JP;
Shunsuke Matsuo, Tokyo, JP;
Ryosuke Koga, Tokyo, JP;
MITSUBISHI JIDOSHA KOGYO KABUSHIKI KAISHA, Tokyo, JP;
THE UNIVERSITY OF TOKYO, Tokyo, JP;
Abstract
A control device includes: a first calculator that calculates a first equivalent sum value corresponding to a sum of left and right requested torques and a first equivalent difference value corresponding to a difference between the left and right requested torques; a first controller that outputs a first instruction torque; an estimator that estimates an estimated sum speed and an estimated difference speed; a second calculator that calculates a second equivalent sum value corresponding to a sum of two actual speeds of the left and right driving sources and a second equivalent difference value corresponding to a difference between the two actual speeds; a second controller that outputs a second instruction torque; and a third controller that controls outputs of the left and right driving sources, using the first and second instruction torques.