Patent ID: 7308432

Claim:
A vehicle motion model generating device for generating a vehicle motion model that represents a motion state of a vehicle, comprising: a first recurrent neural network formed by connecting plural nodes such that an output of a node is input to another node in accordance with a predetermined coupling weight coefficient, comprising a feedback loop of an output of at least one node, and outputting a vehicle parameter indicating said motion state of the vehicle based on predetermined input information, thereby functioning as said vehicle motion model; plural second recurrent neural networks, each of said second recurrent neural networks formed by connecting second plural nodes such that a second output of a second node is input to another second node in accordance with a second predetermined coupling weight coefficient, comprising a second feedback loop of a second output of at least one second node, and outputting a second vehicle parameter different from said vehicle parameter output from said first recurrent neural network and indicating said motion state of the vehicle based on said predetermined input information, thereby functioning as said vehicle motion model; and an optimizing unit for determining an optimum solution of said predetermined coupling weight coefficient of said first recurrent neural network and said second predetermined coupling weight coefficient of said plural second recurrent neural networks based on a learning rule using a hereditary algorithm, wherein said first recurrent neural network and said plural second recurrent neural networks are mutually connected to each other such that a state variable including a correlation with said vehicle parameter output from said first recurrent neural network is input to each of said plural second recurrent neural networks.