| CPC B60W 40/105 (2013.01) [B60W 40/09 (2013.01); B60W 50/082 (2013.01); B60W 50/10 (2013.01); B60W 2540/30 (2013.01)] | 7 Claims |
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1. A vehicle comprising:
a plurality of electronic control units in each of which is implemented an advanced driver assistance system application function;
a plurality of actuator systems configured to cause motion of the vehicle in at least one of a front-rear direction of the vehicle and a lateral direction of the vehicle; and
a manager coupled to the plurality of electronic control units and to the plurality of actuator systems, the manager including one or more processors configured to:
receive a plurality of first kinematic plans from the plurality of electronic control units, the first kinematic plans relating to the motion of the vehicle,
receive a second kinematic plan relating to the motion of the vehicle, the second kinematic plan starting at a second time that is after a first time at which least one of the first kinematic plans starts,
arbitrate the first kinematic plans,
calculate one or more motion requests based on an arbitration result,
determine whether the one or more actuator systems include an actuator system having an operating state that needs to be switched in order to achieve the second kinematic plan based on the arbitration results and the second kinematic plan,
when the one or more actuator systems include the actuator system having the operating state that needs to be switched, advance a start timing of a motion request among the one or more motion requests that is to be output to the actuator system having the operating state that needs to be switched, and
output the one or more motion requests to the one or more actuator systems, and
wherein the one or more actuator systems control the vehicle according to the one or more motion requests that are output.
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