| 摘要 |
PROBLEM TO BE SOLVED: To estimate operation information of a vehicle without falling into a local solution.SOLUTION: An information acquisition part 200 acquires environmental information of the outside of a vehicle. Then, an evaluation function generation part 202 generates a safety evaluation function determined so that a state variable representing a motion state of the vehicle becomes a convex function to variation of a steering wheel steering angle of the vehicle, the convex function monotonously increases or monotonously decreases to the state variable, and determined so as to output an evaluation value according to distance from a boundary of runway areas of a mobile object on the basis of the environmental information, on the basis of the acquired environmental information. Then, an operation information estimation part 204 estimates the variation of the steering wheel steering angle of the vehicle so as to optimize the evaluation value on the basis of the generated safety evaluation function. |
