To obtain an appropriate solution by setting proper constraints when executing speed control taking a future state into consideration.SOLUTION: A vehicle controller includes: a state value calculation section which calculates a state value for each of a plurality of state paths defined by selecting an action amount generated between a plurality of time points in a state space from among a plurality of candidates; and a speed determination section which determines a future speed transition of a vehicle according to the state path having a high state value. The state value calculation section calculates reward function values based on at least one evaluation object amount for respective time points in a period from a start time point to a target time point, and sums up the reward function values on a time-series basis to calculate the state value. The state value is calculated according to first regions reducing the state value and second regions reducing the reward function value which are set in some of or all of a plurality of partial spaces, each with at least two elements of a plurality of elements as axes.SELECTED DRAWING: Figure 2
【課題】将来の状態を考慮した速度制御を行う際に、適切な制約を設定することで好適な解を得ること。【解決手段】状態空間において複数の時点間に生じる行動量を複数の候補の中から選択することで定義される複数の状態パスのそれぞれについて、状態価値を算出する状態価値算出部と、状態価値の高い状態パスに従って車両の将来の速度推移を決定する速度決定部と、を備え、状態価値算出部は、開始時点から目標時点までの間の各時点について、一以上の評価対象量に基づく報酬関数値を算出し、報酬関数値を時系列に合計することで前記状態価値を算出するものであり、複数の要素のうち二以上の要素を軸とする複数の部分空間のうち一部または全部に設定される、状態価値を低下させる第1領域と、報酬関数値を低下させる第2領域とに従って状態価値を算出する、車両制御装置。【選択図】図2
VEHICLE CONTROLLER, VEHICLE CONTROL METHOD, AND PROGRAM
車両制御装置、車両制御方法、およびプログラム
2022-07-21
Patent
Electronic Resource
Japanese
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