US 12,128,907 B2
Control device for vehicle
Akira Ito, Tokyo (JP); Tatsuya Suzuki, Nagoya (JP); Hiroyuki Okuda, Nagoya (JP); and Kohei Honda, Nagoya (JP)
Assigned to J-QuAD DYNAMICS Inc., Tokyo (JP); and National University Corporation Tokai National Higher Education and Research System, Aichi (JP)
Filed by J-QuAD DYNAMICS Inc., Tokyo (JP); and National University Corporation Tokai National Higher Education and Research System, Aichi (JP)
Filed on Jun. 23, 2022, as Appl. No. 17/808,521.
Claims priority of application No. 2021-158118 (JP), filed on Sep. 28, 2021.
Prior Publication US 2023/0100017 A1, Mar. 30, 2023
Int. Cl. B60W 50/00 (2006.01); B60W 60/00 (2020.01)
CPC B60W 50/0097 (2013.01) [B60W 60/001 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A control device that is a control device for a vehicle, comprising:
a model generation unit that generates a control model that formulates a task to be executed by the vehicle; and
a task processing unit that causes the vehicle to execute the task by performing model prediction control using the control model, wherein
when the task to be executed by the vehicle is switched from a first task to a second task, assuming that
a first state space is a state space of the control model used at an execution time of the first task, and
a second state space is a state space of the control model used at an execution time of the second task,
the first state space has a first allowable range formed by first state variables,
the second state space has a second allowable range formed by second state variables,
the first state variables and the second state variables have common state variables forming a common state space,
the task processing unit limits the first allowable range to determine a predetermined range, and causes the common state variables of the predetermined range to be included in the second allowable range,
the task processing unit executes a transition process of executing the first task within the predetermined range, and
the task processing unit executes the second task after executing the transition process.