PROBLEM TO BE SOLVED: To provide a technique capable of properly determining an optimal solution of a non-convex cost function.SOLUTION: An initial value determination device 10 is used with an automatic drive control device 1, and determines an initial value to be applied to a cost function which models a vehicle state of an own vehicle, a control input value to the own vehicle, and a state change of a driving environment including other vehicles. The initial value determination device 10 comprises: a target state setting unit 13 for setting a target vehicle state on the basis of a vehicle state after a prescribed period of time has passed when it is assumed that a current vehicle state of the own vehicle continues; and a control input value calculation unit 14 for determining a control input value for making the current vehicle state of the own vehicle transition to the target vehicle state.SELECTED DRAWING: Figure 1
【課題】非凸のコスト関数の最適解を適切に求めることができる技術を提案する。【解決手段】初期値決定装置10は、自動運転制御装置1と共に用いられ、自車両の車両状態と自車両に対する制御入力値と他車両を含む運転環境の状況変化とをモデル化したコスト関数に適用する初期値を決定する。初期値決定装置10は、自車両の現在の車両状態が継続したと仮定したときの所定時間経過後の車両状態に基づいて、目標の車両状態を設定する目標状態設定部13と、自車両の現在の車両状態を目標の車両状態に遷移させる制御入力値を求める制御入力値計算部14とを備える。【選択図】図1
ARITHMETIC UNIT, ARITHMETIC METHOD AND PROGRAM
演算装置、演算方法およびプログラム
2017-11-24
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B62D MOTOR VEHICLES , Motorfahrzeuge / G05B Steuer- oder Regelsysteme allgemein , CONTROL OR REGULATING SYSTEMS IN GENERAL |
ARITHMETIC UNIT, MOVING BODY SYSTEM, ARITHMETIC METHOD AND PROGRAM
European Patent Office | 2016
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