Title:
VEHICLE CONTROL DEVICE AND VEHICLE CONTROL METHOD
Document Type and Number:
WIPO Patent Application WO/2024/100853
Kind Code:
A1
Abstract:
The present invention pertains to a vehicle control device and a vehicle control method that generate an assist control input on the basis of a zeroing control barrier function in response to an operation input for changing a traveling state of a vehicle, and control the traveling state on the basis of the operation input and the assist control input. The vehicle control device and the vehicle control method find a subset of a safe set, which represents a predetermined safe area considered safe, on the basis of predetermined constraints related to the operation input and the control input, and determine whether an initial state of the vehicle at the start of control belongs to the found subset or not, and consequently, when it is determined that the initial state belongs to the subset, control the traveling state on the basis of the operation input and the assist control input.
Inventors:
SATO SHOTA (JP)
KAMIJO KENJI (JP)
HATANO TAKASHI (JP)
NAKAMURA HISAKAZU (JP)
TEZUKA ISSEI (JP)
KAMIJO KENJI (JP)
HATANO TAKASHI (JP)
NAKAMURA HISAKAZU (JP)
TEZUKA ISSEI (JP)
Application Number:
PCT/JP2022/041954
Publication Date:
May 16, 2024
Filing Date:
November 10, 2022
Export Citation:
Assignee:
MAZDA MOTOR (JP)
UNIV TOKYO SCIENCE FOUND (JP)
UNIV TOKYO SCIENCE FOUND (JP)
International Classes:
B60W30/095
Foreign References:
| JP2015232787A | 2015-12-24 | |||
| JP2015136957A | 2015-07-30 |
Attorney, Agent or Firm:
KOTANI, Masataka et al. (JP)
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