US 12,447,958 B2
Travel control apparatus
Tatsuya Konishi, Tokyo (JP); Akinori Oi, Tokyo (JP); Yuya Kaneda, Tokyo (JP); Kenta Ishii, Tokyo (JP); and Tomoyuki Yokoyama, Tokyo (JP)
Assigned to Honda Motor Co., Ltd., Tokyo (JP)
Filed by Honda Motor Co., Ltd., Tokyo (JP)
Filed on Mar. 27, 2023, as Appl. No. 18/126,963.
Prior Publication US 2024/0326797 A1, Oct. 3, 2024
Int. Cl. B60W 30/00 (2006.01); B60W 30/14 (2006.01); B60W 50/00 (2006.01)
CPC B60W 30/14 (2013.01) [B60W 50/00 (2013.01); B60W 2050/0052 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A travel control apparatus comprising:
a detection unit configured to detect an exterior environment situation around a subject vehicle, the detection unit being a camera, a radar, or a LiDAR; and
a microprocessor and a memory coupled to the microprocessor, wherein
the microprocessor is configured to perform:
recognizing, based on a detected value of the detection unit, a traveling state of a preceding vehicle traveling ahead of the subject vehicle on a current lane on which the subject vehicle is traveling;
determining, based on a recognized result in the recognizing, whether the preceding vehicle has started a deceleration;
estimating a traveling trajectory of the preceding vehicle through a Kalman filter to which a physical quantity representing the traveling state of the preceding vehicle is to be inputted as an input value; and
controlling a traveling actuator based on an estimated result in the estimating to make the subject vehicle follow the preceding vehicle, wherein
the microprocessor is configured to perform
the estimating including, when it is determined that the preceding vehicle has started the deceleration, varying a weight for the Kalman filter by resetting a variance-covariance matrix of the Kalman filter.