| CPC B60W 30/02 (2013.01) [B60W 40/13 (2013.01); G01C 21/3461 (2013.01); B60W 2040/1315 (2013.01); B60W 60/001 (2020.02); B60W 2520/00 (2013.01); B60W 2530/10 (2013.01); B60W 2540/221 (2020.02)] | 12 Claims |
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11. A motion manager comprising:
one or more processors configured to:
arbitrate a plurality of action plans for driving support of a vehicle set by a driving support system of the vehicle;
calculate a motion request based on a result of arbitration;
distribute the motion request to an actuator system of the vehicle;
predict at least one of a total weight of the vehicle and a position of a center of gravity of the vehicle;
correct the motion request based on the at least one of the predicted total weight and the predicted position of the center of gravity such that an influence of the total weight and the position of the center of gravity on traveling of the vehicle is reduced; and
transmit a request signal to the actuator system such that the actuator system moves the vehicle according to the corrected motion request, wherein
the one or more processors are further configured to:
set a travel route to a destination such that a traveling point where the influence of the total weight and the position of the center of gravity on traveling of the vehicle is reduced is included in the travel route; and
predict the at least one of the total weight and the position of the center of gravity when the vehicle is traveling at the traveling point where the influence on the traveling of the vehicle is reduced,
the travel route is set based on the number of the traveling points on the travel route such that the vehicle is moved through a plurality of the traveling points located along different road segments along the travel route at which the at least one of the total weight and the position of the center of gravity is predicted, and
the one or more processors predict the at least one of the total weight and the position of the center of gravity based only on information received from in-vehicle devices.
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