Driving Force Control Mitigating Wheelbase-Dependent Obstacle Delay

The system performs preliminary detection of the specific state (vehicle stopped with accelerator depressed) and uses travel distance measurement to predict whether mitigation should be initiated, rather than waiting passively for the predetermined period to expire. When the travel distance exceeds the wheelbase, the system proactively initiates mitigation control, anticipating that the vehicle has moved far enough to indicate a legitimate obstacle crossing operation.

The system dynamically adjusts the mitigation initiation criteria based on travel distance. Instead of using a fixed time-based threshold, the system continuously monitors travel distance and compares it against the wheelbase parameter, allowing the mitigation decision to adapt to the actual vehicle movement and operational context.

The travel distance measurement serves as an intermediary parameter between the specific state detection and the mitigation decision. Rather than directly transitioning from state detection to mitigation, the system uses travel distance as a mediating criterion that provides additional verification, ensuring that mitigation is only initiated when the vehicle has moved a sufficient distance to indicate a legitimate operation.

The system replaces the time-based mechanical waiting period with a distance-based measurement criterion. Instead of waiting for a predetermined time interval to pass, the system measures the actual travel distance and uses this physical quantity to trigger mitigation, providing a more accurate reflection of the vehicle's operational state.