| CPC B60W 30/06 (2013.01) [B60W 30/18109 (2013.01); B60W 40/09 (2013.01); B60W 60/001 (2020.02)] | 4 Claims |
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1. A vehicle comprising:
a first electronic control unit in which an advanced driver assistance system for an autonomous driving application is implemented, the first electronic control unit including a first processor;
a second electronic control unit in which a driver assistance application is implemented based upon a request from a driver, the second electronic control unit including a second processor;
a manager including a third processor; and
an in-vehicle network configured to allow electronic communication between the first electronic control unit, the second electronic control unit and the manager; wherein:
the first electronic control unit and the second electronic control unit are each configured to output, respectively, to the manager, a kinematic plan and identification information, and a control status indicating a respective execution state of control; and
the manager is configured to
receive each of the kinematic plan and the identification information, and the respective execution state,
arbitrate the kinematic plan of the kinematic plan of the first electronic control unit and the kinematic plan of the second control unit and determine that the result of the arbitration is that the kinematic plan of the first electronic control unit has priority because the autonomous driving application has priority over the request from the driver, and
send an arbitration result to the first electronic control unit and the second electronic control unit causing the kinematic plan of the first electronic control unit to be executed by the vehicle and causing the kinematic plan of the second electronic control unit not to be executed.
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