US 12,233,855 B2
Motion manager, vehicle, vehicle control method, and non-transitory storage medium
Yoshihisa Yamada, Nagoya (JP); Kazuki Miyake, Okazaki (JP); and Wataru Kanda, Nisshin (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Aug. 19, 2022, as Appl. No. 17/891,303.
Claims priority of application No. 2021-149394 (JP), filed on Sep. 14, 2021.
Prior Publication US 2023/0079506 A1, Mar. 16, 2023
Int. Cl. B60W 30/06 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/06 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 60/001 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A motion manager configured to request motion of a vehicle according to a kinematic plan on driver assistance of the vehicle to at least one of a plurality of actuators provided in the vehicle, the motion manager comprising one or more processors configured to:
receive a plurality of kinematic plans and classify each of the received kinematic plans into predetermined items without specifying a setting source of each of the kinematic plans, the predetermined items including a requested value of a physical amount indicating a motion amount of the vehicle, information indicating a motion direction of the vehicle, and information indicating a priority of the motion of the vehicle according to each of the kinematic plans;
arbitrate the kinematic plans based on an item into which each respective kinematic plan is classified into among the predetermined items;
calculate a motion request to the vehicle based on a result of arbitrating the kinematic plans; and
distribute the motion request to at least one of the actuators.