Control device for vehicle
A control device includes a model generation unit that generates a control model that formulates a task to be executed, and a task processing unit that causes the vehicle to execute the task by performing model prediction control using the control model. 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 task processing unit starts to cause the vehicle to execute the second task, after executing a transition process that is a process of making a value of a state variable that is commonly included in both the first state space and the second state space within a predetermined range that is allowed at the execution time of the second task.
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.
2. The control device according to claim 1 , wherein
when the task to be executed by the vehicle is switched from the first task to the second task,
assuming that a third state space is a state space containing both the first state space and the second state space,
the model generation unit generates an intermediate control model that is the control model that changes a state vector in a region including the first allowable range of the third state space, and
the task processing unit executes the transition process while performing model prediction control using the intermediate control model.
3. The control device according to claim 2 , wherein the model generation unit includes a predetermined constraint condition in the intermediate control model so that the transition process is executed by the task processing unit.
4. The control device according to claim 3 , wherein the model generation unit includes a penalty function included in an evaluation function that is used at the execution time of the second task, in the intermediate control model as the constraint condition.
5. The control device according to claim 1 , further comprising a storage unit in which a model element that is used in generation of the control model is stored.