US 12,304,477 B2
Control device, control method, and recording medium
Masatoshi Ogawa, Yokohama (JP); Takuma Degawa, Yokohama (JP); Masakazu Mukai, Shinjuku (JP); and Shigeaki Kurita, Yokohama (JP)
Assigned to TRANSTRON INC., Yokohama (JP); and KOGAKUIN UNIVERSITY, Tokyo (JP)
Filed by TRANSTRON INC., Yokohama (JP); and KOGAKUIN UNIVERSITY, Tokyo (JP)
Filed on Oct. 25, 2022, as Appl. No. 17/972,873.
Claims priority of application No. 2021-177303 (JP), filed on Oct. 29, 2021.
Prior Publication US 2023/0138137 A1, May 4, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 50/00 (2006.01); B60W 30/095 (2012.01)
CPC B60W 30/0956 (2013.01) [B60W 50/0097 (2013.01); B60W 2050/0022 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2420/54 (2013.01); B60W 2510/18 (2013.01); B60W 2510/20 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2554/4042 (2020.02)] 17 Claims
OG exemplary drawing
 
1. A control device, comprising:
a transformed first model for which a weight coefficient, a bias, and upper and lower limit values of an input/output variable of a neuron are set based on a first model and in which an activation function of the neuron is transformed using a linear inequality function that includes a binary variable, the first model having a multi-layered neural structure and the activation function of a rectified linear unit (ReLU) structure, the first model receiving, as input, information of a sensor equipped on a controlled object, the first model predicting dynamic behavior of a mobile object in a surroundings of the controlled object;
a memory; and
a processor coupled to the memory, the processor configured to:
obtain the information of the sensor and a target value of a monitored amount of the controlled object;
use the transformed first model to calculate an estimate value, as a future value, of a monitored amount of the mobile object, from the information of the sensor;
calculate an estimate value, as a future value, of the monitored amount of the controlled object, from a candidate value of an operation amount for controlling the monitored amount of the controlled object; and
determine a value of the operation amount for controlling the monitored amount of the controlled object, based on the target value of the monitored amount of the controlled object, the estimate value of the monitored amount of the controlled object, and the estimate value of the monitored amount of the mobile object.