{
  "$type": "site.standard.document",
  "description": "The vehicle control device estimates a current vehicle state after a lapse of a predetermined time based on a control request of an actuator of the vehicle and a current vehicle state, calculates a guard reference value corresponding to a current vehicle state after a lapse of a predetermined time…",
  "path": "/patents/1385415",
  "publishedAt": "2026-06-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/02",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "The vehicle control device estimates a current vehicle state after a lapse of a predetermined time based on a control request of an actuator of the vehicle and a current vehicle state, calculates a guard reference value corresponding to a current vehicle state after a lapse of a predetermined time, executes a delay process on the guard reference value, calculates a limit value of a control request of the actuator based on the delay process guard reference value which is a guard reference value after the delay process is executed, and calculates a guard control request which is a control request of the actuator that does not exceed the limit value of the control request of the actuator based on the control request of the actuator and the limit value of the control request of the actuator.",
  "title": "VEHICLE CONTROL DEVICE, VEHICLE CONTROL METHOD, AND STORAGE MEDIUM"
}