Control Device
AssigneeAstemo, Ltd.
InventorsAkihiro KOMORI, Kunihiko SUZUKI
Life of this patent
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Abstract
The processor of the control device calculates the state variable at the second timing from the state variable (previous value) of the vehicle at the first timing, the control input of the vehicle at the second timing after the first timing, and the observation value (sensor input) at the second timing detected by the sensor of the vehicle. The processor approximates a state space model including a state equation related to a state variable and an observation equation related to an observation value with a neural network model. The processor determines the reliability of the state variable at the second timing from the control input at the second timing and the index (Mahalanobis distance) based on the observation value at the second timing.
Claims10
A control device comprising a processor, wherein
- the processor is configured to execute:
- calculating a state variable at a second timing from a state variable of a vehicle at a first timing, a control input of the vehicle at a second timing after the first timing, and an observation value at the second timing which is detected by a sensor of the vehicle;
- approximating, with a neural network model, a state space model including a state equation related to the state variable and an observation equation related to the observation value;
- and
- determining a reliability of the state variable at the second timing from an index based on the control input at the second timing and the observation value at the second timing.
Dependencies are inferred from the claim text.