Vehicle Following Control Using Intermediate Course Detection

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Solution Overview

Problem

Existing methods for determining a preceding vehicle based on yaw rate and steering angle can result in the loss of detection during steering maneuvers, leading to unnecessary acceleration due to the difference between estimated courses, especially when the steering angle is reduced.

Innovation Solution

A mobile body control device that calculates a first estimated course based on yaw rate and a second estimated course based on steering angle, determines a peripheral mobile body that overlaps with an intermediate area between these courses as a preliminary preceding mobile body, and executes following control to avoid losing sight of the actual vehicle.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the preceding vehicle is determined based on the first estimated course using yaw rate, then the determination is reliable during steady-state travel, but the preceding vehicle may not be detected during steering maneuvers when the second estimated course using steering angle diverges

Engineering Contradiction:

Improvepreceding vehicle detection reliabilityVSAvoiddetection accuracy during steering maneuvers

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The system dynamically switches between using the first estimated course (yaw rate-based) and second estimated course (steering angle-based) depending on the steering state. During steady-state travel, the yaw rate-based course is used for reliable detection. During steering maneuvers when courses diverge, the system adapts by using the intermediate area between the two courses to maintain detection accuracy

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

An intermediate area is introduced as a mediator between the first estimated course and second estimated course. When the courses diverge during steering, the intermediate area serves as a transition zone that ensures continuous and accurate preceding vehicle detection, preventing loss of detection while the system transitions between different estimation methods

Inventive Principle:

Principle #24Intermediary (Mediator)

2Stability of the object's composition

If the system uses only the first estimated course based on yaw rate, then the detection is stable during straight travel, but the system loses sight of the preceding vehicle during steering when the steering angle changes

Engineering Contradiction:

Improvedetection stability during straight travelVSAvoidpreceding vehicle position detection precision

Core Design Contradiction:

Stability of the object's compositionVSMeasurement precision

Solution Approach 1:

The system maintains stable detection during straight travel using the yaw rate-based first estimated course, then dynamically transitions to incorporating the steering angle-based second estimated course when steering maneuvers are detected. This dynamic adaptation preserves stability during normal operation while enabling accurate tracking during steering

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system calculates both the first estimated course (yaw rate-based) and second estimated course (steering angle-based) in advance, and prepares the intermediate area between them before steering maneuvers occur. This preliminary preparation ensures that when steering begins, the system can immediately use the appropriate course estimation without delay, maintaining continuous detection

Inventive Principle:

Principle #10Preliminary action

3Productivity

If the system relies on yaw rate for course estimation, then the calculation is simple and quick, but the preceding vehicle detection fails when the steering angle is reduced during lane changes

Engineering Contradiction:

Improvecourse calculation speedVSAvoidpreceding vehicle detection reliability

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The system dynamically selects between the yaw rate-based first estimated course and steering angle-based second estimated course based on the operational state. During steady-state travel, the simple and quick yaw rate calculation is used. During steering maneuvers, the system transitions to the steering angle-based calculation to maintain detection reliability, thus preserving productivity during normal operation while ensuring reliability during critical maneuvers

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS20250206338A1Mobile body control device, mobile body control method, and non-transitory computer-readable storage medium

Publication Date: 2025.06.26 HONDA MOTOR CO LTD

AI summary

A mobile body control device includes, an external environment detector configured to detect a peripheral mobile body, an estimated course calculator configured to calculate a first estimated course and a second estimated course, a preceding mobile body determiner configured to determine, as a preceding mobile body, the peripheral mobile body that overlaps with at least one of the first estimated course and the second estimated course, and a following controller configured to execute following control to follow the preceding mobile body. In a case where the peripheral mobile body to be determined as the preceding mobile body does not exist, the preceding mobile body determiner determines, as a preliminary preceding mobile body, the peripheral mobile body that overlaps with an intermediate area defined between the first estimated course and the second estimated course, and the following controller executes the following control to follow the preliminary preceding mobile body.