Micro-Mobility Route Control Using Curvature Change Points

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Micro mobility vehicles require a control system that can achieve both highly responsive route following and stable behavior, especially in environments with irregular obstacles and intersections, without relying on high-precision maps.

Innovation Solution

A moving body control system that generates a reference route and determines a control amount by identifying terminal ends of straight lines and curvature changes, allowing for a longer reference route to be used for stable and responsive travel control.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Speed

If a micro mobility vehicle uses highly responsive control to accurately follow a route, then responsiveness to the travel route is improved, but stability of the moving body behavior deteriorates

Engineering Contradiction:

Improveresponsiveness to travel routeVSAvoidstability of moving body behavior

Core Design Contradiction:

SpeedVSStability of the object's composition

Solution Approach 1:

The reference route is divided into multiple sections based on curvature characteristics. Different control strategies are applied to different sections: sections with small curvature (straight or gently curved) use one control approach, while sections with large curvature (sharp turns) use another. This segmentation allows the system to achieve both responsiveness and stability by adapting the control method to the specific route characteristics of each section.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The control system dynamically adjusts its behavior based on the curvature of the reference route. When the route curvature changes, the controller switches between different control modes - using more aggressive tracking for straight sections and more conservative tracking for curved sections. This dynamic adaptation enables the system to maintain stability during curved travel while achieving responsiveness during straight travel.

Inventive Principle:

Principle #15Dynamics

2Stability of the object's composition

If a micro mobility vehicle uses control for stabilizing behavior in consideration of a passenger, then stability of moving body behavior is improved, but responsiveness to the route to travel deteriorates

Engineering Contradiction:

Improvestability of moving body behaviorVSAvoidresponsiveness to travel route

Core Design Contradiction:

Stability of the object's compositionVSSpeed

Solution Approach 1:

Different control characteristics are applied to different portions of the reference route based on local curvature properties. For straight or gently curved sections, the control emphasizes responsiveness with tighter tracking. For sharply curved sections, the control emphasizes stability with smoother tracking. This local differentiation resolves the contradiction by allowing both responsive and stable control behaviors to coexist in different locations.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

The controller changes its control parameters (such as proportional gain, integral gain, or damping coefficients) based on the curvature of the reference route. When entering a curved section, the parameters are adjusted to prioritize stability. When in a straight section, parameters are adjusted to prioritize responsiveness. This parameter adaptation enables the system to achieve both stability and responsiveness at different times.

Inventive Principle:

Principle #35Parameter changes

3Stability of the object's composition

If the moving body refers to a longer part of the reference route for control, then stability of behavior is improved, but the complexity of control processing increases

Engineering Contradiction:

Improvestability of moving body behaviorVSAvoidcomplexity of control processing

Core Design Contradiction:

Stability of the object's compositionVSDevice complexity

Solution Approach 1:

The controller pre-calculates or pre-identifies the curvature characteristics of upcoming reference route sections and prepares appropriate control parameters in advance. By knowing the future route characteristics, the system can smoothly transition between control modes without complex real-time calculations during execution, thereby reducing control processing complexity while maintaining stability.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

Instead of using a complex, long-term predictive model that considers the entire reference route, the system uses simpler, shorter-term control decisions based on immediate curvature characteristics. Each control decision is made independently based on current route geometry, avoiding the need for complex global optimization while still achieving stability through local adaptability.

Inventive Principle:

Principle #27Cheap short-living objects (Disposable)

Data Source

PatentUS20250278095A1Moving body control system, control method thereof, moving body, and storage medium

Publication Date: 2025.09.04 HONDA MOTOR CO LTD

AI summary

A moving body control system generates a reference route indicating a route from a position of the moving body on which the moving body travels and determines a part of the reference route to be referred to for controlling travel of the moving body out of the reference route. The system determines a control amount for controlling travel of the moving body with reference to the determined part of the reference route. The system determines a part of the reference route so as to include a position distant from the position of the moving body out of a terminal end of a straight line forming the reference route identified by first identification processing, and a terminal end or a change point of a predetermined curvature of a curved line forming the reference route identified by second identification processing.