US 12,351,194 B2
Control device, control method, storage medium, manager, and vehicle
Nobuyuki Itoh, Toyota (JP); Shunsuke Arakawa, Miyoshi (JP); and Shogi Fukukawa, Tokyo (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and ADVICS CO., LTD., Kariya (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP); and ADVICS CO., LTD., Kariya (JP)
Filed on Feb. 22, 2022, as Appl. No. 17/676,933.
Claims priority of application No. 2021-027486 (JP), filed on Feb. 24, 2021.
Prior Publication US 2022/0266843 A1, Aug. 25, 2022
Int. Cl. B60W 50/00 (2006.01); B60W 30/06 (2006.01); B60W 30/09 (2012.01); B60W 30/12 (2020.01); B60W 30/14 (2006.01)
CPC B60W 50/0098 (2013.01) [B60W 30/06 (2013.01); B60W 30/09 (2013.01); B60W 30/12 (2013.01); B60W 30/14 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a plurality of actuator systems configured to control motion of the vehicle in at least a front-rear direction of the vehicle;
a driver assistance system that issues a plurality of first requests relating to acceleration/deceleration of the vehicle in the front-rear direction of the vehicle, the driver assistance system including a plurality of advanced driver assistance systems applications each of which issues a corresponding one of the plurality of first requests, the plurality of advanced driver assistance systems applications including at least two of (i) an adaptive cruise control application, (ii) a lane keeping assist application, and (iii) an automated emergency braking application; and
a control device coupled to the plurality of actuator systems and the driver assistance system, the control device including one or more processors configured to:
accept the plurality of first requests from the driver assistance system;
perform arbitration of the first requests;
calculate a second request based on an arbitration result from the arbitration of the first requests, the second request indicating a driving force or a driving torque;
calculate a third request based on a sensed value relating to motion of the vehicle and based on the arbitration result from the arbitration of the first requests, the third request indicating the driving force or the driving torque that is calculated using feedback control that considers the sensed value relating to the motion of the vehicle; and
distribute the second request and the third request to at least one of the plurality of actuator systems of the vehicle, which then controls the motion of the vehicle based on the distributed requests,
wherein the one or more processors are configured to restrict the use of the feedback control in the calculation of the third request when the at least one of the actuator systems to which the second and third requests are distributed is not able to respond to the distributed requests.