US 12,122,343 B2
Control device for vehicle, actuator system, control method, non-transitory storage medium, and vehicle
Kazuki Miyake, Okazaki (JP); and Takuya Yasui, Kariya (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 Oct. 1, 2021, as Appl. No. 17/491,717.
Claims priority of application No. 2020-175239 (JP), filed on Oct. 19, 2020.
Prior Publication US 2022/0118957 A1, Apr. 21, 2022
Int. Cl. B60T 8/171 (2006.01); B60T 7/12 (2006.01)
CPC B60T 8/171 (2013.01) [B60T 7/12 (2013.01); B60T 2201/03 (2013.01); B60T 2220/04 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A control device for a vehicle, the control device comprising a processor configured to:
accept a plurality of first braking requests from a plurality of applications that each realize a driving assistance function;
acquire a second braking request by a driver operation;
perform arbitration of the first braking requests and the second braking request, the arbitration including selecting one first braking request from the plurality of first braking requests based on a predetermined selection standard;
output a request to an actuator based on a result of the arbitration by the processor; and
when acquiring the second braking request while outputting the request to the actuator, perform the arbitration in which the request that the processor outputs to the actuator is maintained by adding (i) a braking request obtained by partially reducing the one first braking request at a time at which the second braking request is acquired to (ii) the second braking request.