Vehicle control device and method, actuator system, and non-transitory storage medium

Abstract

The present invention relates to a vehicle control device, an actuator system, a control method, a non-transitory storage medium, and a vehicle. The vehicle control device includes: a receiving unit configured to receive a first braking request from a plurality of applications realizing a driving assistance function; an acquiring unit configured to acquire a second braking request related to a driver's operation; a coordinating unit configured to coordinate the first braking request with the second braking request; and an output unit configured to output a request to the actuator based on a coordination result of the coordinating unit, wherein the coordinating unit is configured to coordinate in a manner such that the request output by the output unit to the actuator is increased or maintained based on the second braking request when the acquiring unit acquires the second braking request while the output unit is outputting the request to the actuator.

Description

Technical Field

[0001] The present disclosure relates to a control device, an actuator system, a control method, a non-transitory storage medium, and a vehicle of a vehicle. Background Art

[0002] In recent years, applications that realize various driving assistance functions have been installed in vehicles. Japanese Patent Application Laid-Open No. 2019-156225 discloses a driving assistance control device that automatically operates a brake actuator to decelerate a vehicle.

[0003] The control device described in Japanese Patent Application Laid-Open No. 2019-156225 performs the following control: when the driver performs a braking operation during autonomous driving, the calculation method of the deceleration requested by the autonomous driving application is changed so that the deceleration requested by the driver is reflected in the vehicle behavior as desired. As a result, the driver can get the expected deceleration feeling.

[0004] In a vehicle equipped with an electronic control unit (ECU) having an application implementing a driving assistance function, how the application's request is reflected in the driver's request to implement control depends on the ECU. Therefore, in a case where a vehicle is equipped with many ECUs having applications implementing driving assistance functions, if there is a slight difference in the method of implementing the request between these multiple ECUs, there is a possibility that the driver will feel uncomfortable. Summary of the invention

[0005] The present disclosure provides a vehicle control device, an actuator system, a control method, a non-transitory storage medium, and a vehicle that can reduce the discomfort caused to the driver even when the vehicle is equipped with many ECUs having applications that realize driving assistance functions.

[0006] The control device of a vehicle involved in the first mode of the present disclosure includes: an accepting unit, configured to accept a first braking request from multiple applications that realize a driving assistance function; an acquiring unit, configured to acquire a second braking request involving a driver's operation; a coordinating unit, configured to coordinate the first braking request and the second braking request; and an output unit, configured to output a request to an actuator based on a coordination result of the coordinating unit, wherein the coordinating unit is configured to coordinate in a manner such that the request output by the output unit to the actuator is increased or maintained based on the second braking request when the acquiring unit acquires the second braking request while the output unit is outputting a request to the actuator.

[0007] The actuator system according to the second aspect of the present disclosure is configured to i) accept action plan requests from multiple devices equipped with functions of multiple ADAS applications, ii) coordinate the accepted multiple action plan requests, and iii) calculate a first motion request related to the combined braking related to the multiple ADAS applications based on the coordinated action plan requests, and is configured to receive the first motion request from a manager (MGR) mounted on the vehicle. The actuator system includes: an acquisition unit configured to acquire a second motion request related to braking related to a driver's operation; a coordination unit configured to coordinate the first motion request with the second motion request; and an output unit configured to output a request to the actuator for realizing the motion request obtained by the coordination of the coordination unit, wherein the coordination unit is configured to coordinate the request output by the output unit to the actuator based on the second motion request in a manner such that the request output by the output unit to the actuator is increased or maintained when the acquisition unit acquires the second motion request while the output unit is outputting the request to the actuator.

[0008] The third embodiment of the present disclosure involves a control method executed by a computer of a control device mounted on a vehicle, including: accepting a first braking request from multiple applications that implement a driving assistance function; obtaining a second braking request related to a driver's operation; coordinating the first braking request and the second braking request; outputting a request to an actuator based on a result of the coordination; and when the second braking request is obtained during the process of outputting a request to the actuator, coordinating in a manner such that the request output to the actuator is increased or maintained based on the second braking request.

[0009] A non-transitory storage medium according to a fourth aspect of the present disclosure stores a control program that can be executed by a computer mounted on a control device of a vehicle and causes the computer to execute the control method according to the third aspect.

[0010] A vehicle according to a fifth aspect of the present disclosure includes the control device according to the above-mentioned first aspect.

[0011] According to the present disclosure, even when a vehicle is equipped with many ECUs having applications implementing driving assistance functions, it is possible to coordinate and process multiple requests from applications and requests from the driver, thereby reducing the discomfort caused to the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Hereinafter, features, advantages, technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like components, wherein:

[0013] Figure 1This is a structural diagram of a control device and its peripheral parts involved in one embodiment of the present disclosure.

[0014] Figure 2 This is a flowchart for explaining a brake control process according to one embodiment of the present disclosure.

[0015] Figure 3 This is a graph for explaining the brake control process according to one embodiment of the present disclosure. DETAILED DESCRIPTION

[0016] The control device of the present disclosure coordinates the braking requests generated from multiple applications using the automatic braking function and the braking requests generated by the driver's operation of the brake pedal. As a result, even in a case where a vehicle is equipped with many ECUs having applications for realizing the driving assistance function, the coordination processing of multiple requests from the applications and the requests from the driver can be unified, so the discomfort caused to the driver can be reduced. Hereinafter, one embodiment of the present disclosure is described in detail with reference to the accompanying drawings.

[0017] [structure]

[0018] Figure 1 1 is a diagram showing the configuration of a vehicle control device 10 and its peripheral parts according to an embodiment of the present disclosure. Figure 1 The control device 10 shown is communicatively connected to the driving support device 20, the brake pedal sensor 30, and the brake device 40 via an in-vehicle network 50. Examples of the in-vehicle network 50 include CAN (Controller Area Network) and Ethernet (registered trademark).

[0019] The driving assistance device 20 is a structure for implementing various functions of assisting the driving of a vehicle including at least the driving control and braking control of the vehicle by executing a prescribed application. As an example of an application installed in the driving assistance device 20, an automatic driving application 21 that implements an automatic driving function, an automatic parking application 22 that implements an automatic parking function, and an advanced driving assistance application 23 are shown in this embodiment. The advanced driving assistance application 23 includes multiple ADAS applications such as an application that implements an adaptive cruise control (ACC) function for following a preceding vehicle, an application that implements a lane keeping assist (LKA) function for maintaining a lane, and an application that implements a collision damage mitigation braking (AEB) function for reducing damage caused by a collision. The driving assistance device 20 outputs a request for an action plan (front and rear acceleration / deceleration, etc.) whose functionality (commerciality) is ensured solely by an application based on information about the vehicle obtained from various sensors, etc., which are not shown in the figure.

[0020] The driving assistance device 20 is implemented by a computer such as an ECU having a processor such as a CPU, a memory, and an input / output interface. In addition, the number of applications installed in the driving assistance device 20 is not limited to Figure 1 The three shown may be less than two or more than four. In addition, as the driving assistance device 20, a separate ECU may be provided for each application. For example, the driving assistance device 20 may be composed of an autonomous driving ECU equipped with an autonomous driving application 21, an automatic parking ECU equipped with an automatic parking application 22, and an ADAS-ECU equipped with an advanced driving assistance application 23. In addition, multiple ADAS applications may be installed in multiple devices, such as an ECU equipped with an ADAS application that implements an ACC function, an ECU equipped with an ADAS application that implements an LKA function, and an ECU equipped with an ADAS application that implements an AEB function.

[0021] The brake pedal sensor 30 is a structure for detecting the stepping amount of the brake pedal operated by the driver of the vehicle (hereinafter referred to as "brake pedal operation amount"). The brake pedal sensor 30 is mounted on a brake mechanism of the vehicle or the like.

[0022] The brake device 40 is one of the systems (implementation systems) for implementing the action plan request output by the driving assistance device 20, and is an actuator that generates a braking force by applying a friction force to a member rotating together with the wheel. The brake device 40 controls the movement of the vehicle based on a hydraulic control amount derived by the control device 10 based on a calculated motion request related to braking.

[0023] The control device 10 determines the control content related to at least braking in the movement of the vehicle based on the action plan request received from the driving assistance device 20 and the brake pedal operation amount obtained from the brake pedal sensor 30, and performs control by giving instructions related to the required braking to the brake device 40 based on the determined control content. The control device 10 functions as a so-called manager (ADAS-MGR, Vehicle-MGR, etc.) related to the movement of the vehicle or as a part of the manager to control the movement of the vehicle. The control device 10 includes a receiving unit 11, an acquiring unit 12, a coordinating unit 13, and an output unit 14.

[0024] The receiving unit 11 receives action plan requests outputted from each application (autopilot application 21, automatic parking application 22, and advanced driver assistance application 23) of the driver assistance device 20. The action plan request in this embodiment is also a first braking request for calculating a motion request for a braking force corresponding to an automatic braking control amount outputted from an application providing automatic braking to the vehicle. As an action plan, deceleration in the front-rear direction (longitudinal direction) of the vehicle can be exemplified.

[0025] The acquisition unit 12 successively acquires the brake pedal operation amount detected by the brake pedal sensor 30. The brake operation performed by the driver (driver operation) in this embodiment is a motion request (second brake request) for the vehicle to request a braking force corresponding to the brake pedal operation amount. The acquisition unit 12 can determine the presence or absence of the driver's brake operation, the direction of the brake operation (pedal increase, pedal hold, pedal retraction), and the change rate of the brake operation based on the brake pedal operation amount obtained from the brake pedal sensor 30.

[0026] The coordination unit 13 coordinates the plurality of first braking requests (first movement requests) received by the receiving unit 11 from the driving assistance device 20. In addition, when it is determined in the acquisition unit 12 that there is a braking operation by the driver, the coordination unit 13 coordinates the plurality of first braking requests and the second braking request (second movement request) corresponding to the brake pedal operation amount. As a coordination process, it is possible to exemplify selecting one braking request from a plurality of braking requests based on a predetermined selection criterion and setting a new braking request based on a plurality of braking requests. In addition, the coordination unit 13 can coordinate the braking request based on the operating state of the brake obtained from the braking device 40 and information indicating availability.

[0027] The output unit 14 calculates and outputs (distributes) the braking force used to derive the hydraulic control amount of the brake device 40 as a motion request to the brake actuator, i.e., the brake device 40, based on the coordination result of the brake request in the coordination unit 13. In the following description, the braking force calculated based on the coordination result of multiple first brake requests (automatic brake control amounts) is referred to as "automatic brake request braking force", and the braking force calculated based on the second brake request (brake pedal operation amount) is referred to as "driver request braking force". In addition, the braking force may also be a braking torque.

[0028] In addition, the structure of the equipment mounted on the vehicle and the structure of the control device 10 described above are examples, and additions, replacements, changes, omissions, etc. can be appropriately performed. In addition, the functions of each device can be appropriately installed to be integrated into one device or dispersed in multiple devices. For example, the functional part of coordinating multiple first braking requests (action plan requests) in the coordination unit 13 can be constituted in the control device 10, and the functional part of the coordination unit 13 that coordinates the results obtained by coordinating the multiple first braking requests with the second braking request can be constituted by other independent devices (such as actuator ECU). In the case of this structure, the acquisition unit 12 for obtaining the brake pedal operation amount and the functional part of the output unit 14 that outputs the motion request to the braking device 40 can be constituted in different devices.

[0029] [control]

[0030] Further references Figure 2 The brake control process executed by the control device 10 according to the present embodiment will be described. Figure 2 This is a flowchart for explaining the brake control process executed by each component of the control device 10 .

[0031] When a first braking request for activating automatic braking is output from the driving assistance device 20 and the control device 10 calculates the automatic braking request braking force based on the first braking request, the automatic braking operation starts. Figure 2 The braking control process is repeatedly executed until the first braking request for activating the automatic brake from the driving assistance device 20 disappears, that is, until the automatic brake request braking force is no longer calculated.

[0032] (Step S201) The acquisition unit 12 determines whether there is a braking operation by the driver stepping on the brake pedal based on the detection result of the brake pedal sensor 30. When the acquisition unit 12 determines that there is a braking operation by the driver (step S201, yes), the process proceeds to step S202. When the acquisition unit 12 determines that there is no braking operation by the driver (step S201, no), the process proceeds to step S210.

[0033] (Step S202) The coordination unit 13 stores the automatic braking request braking force (current automatic braking request braking force) calculated based on the first braking request at the time when the acquisition unit 12 determines that there is a braking operation by the driver as "addition request braking force" in a storage unit (not shown) or the like. If the addition request braking force is stored, the process proceeds to step S203.

[0034] (Step S203) The coordination unit 13 determines whether a step-on increase operation of increasing the brake pedal operation amount has been performed based on the driver's brake operation acquired by the acquisition unit 12. When the coordination unit 13 determines that the step-on increase operation of the brake pedal has been performed (step S203, yes), the process proceeds to step S205. When the coordination unit 13 determines that the step-on increase operation of the brake pedal has not been performed (step S203, no), the process proceeds to step S204.

[0035] (Step S204) The coordination unit 13 determines whether a step-back operation (withdrawal operation) of reducing the brake pedal operation amount has been performed based on the driver's brake operation acquired by the acquisition unit 12. If the coordination unit 13 determines that the step-back operation of the brake pedal has been performed (step S204, yes), the process proceeds to step S206, and if it determines that the step-back operation of the brake pedal has not been performed (step S204, no), the process proceeds to step S207.

[0036] (Step S205) The coordination unit 13 performs a calculation to reduce the requested braking force for addition stored in the above step S202 based on the ratio of the increase in the amount of depression of the brake pedal, that is, the operation amount increase rate, and derives the requested braking force for addition after subtraction. The degree to which the requested braking force for addition is reduced based on the operation amount increase rate can be appropriately set based on the weight of the vehicle, the braking performance of the brake device 40, etc., so as to eliminate or reduce the discomfort caused to the driver who steps more deeply if he wants to enhance the braking effect. If the subtraction of the requested braking force for addition is performed, the process proceeds to step S208.

[0037] (Step S206) The coordination unit 13 performs a calculation to reduce the requested braking force for addition stored in the above step S202 based on the ratio of the reduction in the amount of depression of the brake pedal, that is, the operation amount reduction rate, and derives the requested braking force for addition after subtraction. The degree to which the requested braking force for addition is reduced based on the operation amount reduction rate can be appropriately set based on the weight of the vehicle, the braking performance of the brake device 40, etc., so as to eliminate or reduce the discomfort caused to the driver who reduces the depression when the braking effect is to be reduced. If the subtraction of the requested braking force for addition is performed, the process proceeds to step S208.

[0038] (Step S207) The coordination unit 13 determines that the amount of operation of the brake pedal is neither stepped on to increase nor stepped back but remains constant, and performs an operation to reduce the addition request braking force stored in the above step S202 at a constant rate, and derives the addition request braking force after subtraction. The constant rate for reducing the addition request braking force can be appropriately set based on the weight of the vehicle, the braking performance of the brake device 40, etc., so as to eliminate or reduce the discomfort caused to the driver who keeps the pedaling constant if the braking effect is to be maintained. If the subtraction operation of the addition request braking force is performed, the process proceeds to step S208.

[0039] (Step S208) The coordination unit 13 derives the hydraulic pressure control amount of the brake device 40 based on the driver's requested braking force calculated according to the second braking request and the requested braking force for addition after subtraction in any of the above steps S205 to S207. Specifically, the coordination unit 13 adds the driver's requested braking force to the requested braking force for addition after subtraction to obtain a new braking force, and derives the hydraulic pressure control amount of the brake device 40 based on the obtained new braking force. If the hydraulic pressure control amount is derived, the process proceeds to step S209.

[0040] (Step S209) The acquisition unit 12 determines whether the driver's braking operation by stepping on the brake pedal has been completed based on the detection result of the brake pedal sensor 30. When the acquisition unit 12 determines that the driver's braking operation has been completed (step S209, yes), the process proceeds to step S201. When the acquisition unit 12 determines that the driver's braking operation has not been completed (step S209, no), the process proceeds to step S203.

[0041] (Step S210) The coordination unit 13 derives the hydraulic pressure control amount of the brake device 40 based on the automatic brake request braking force calculated according to the first brake request. When the hydraulic pressure control amount is derived, the process proceeds to step S201.

[0042] Reference Figure 3 An example of the above brake control process will be described. Figure 3 This is a graph with time T as the horizontal axis and braking force as the vertical axis. Figure 3 In FIG. 4 , a single-dot chain line indicates an automatic brake request braking force calculated based on a first brake request, a thin solid line indicates a driver request braking force calculated based on a second brake request, a double-dot chain line indicates an addition request braking force reduced based on an operation of the brake pedal, and a thick solid line indicates a motion request braking force output to the brake device 40. In addition, as a comparative example, a dotted line indicates a braking force output to the brake device 40 by a control device that simply adds the automatic brake request braking force at the time when it is determined that there is a driver's brake operation to the driver request braking force.

[0043] While there is no braking operation by the driver stepping on the brake pedal (t0≤T<t1), the automatic brake request braking force remains unchanged as the braking force generated by the brake device 40 (the one-dot chain line is the same as the thick solid line).

[0044] When the driver starts a braking operation by stepping on the brake pedal at time T=t1, the automatic braking requested braking force calculated at this time is stored as the added requested braking force.

[0045] Then, during the period when the driver is performing an increasing operation on the brake pedal (t1≤T<t2), the braking force obtained by adding the additive requested braking force (double dotted line) after the additive requested braking force (stored value) is reduced based on the rate of increase of the operation amount and the driver's requested braking force (thin solid line) becomes the braking force (thick solid line) generated by the braking device 40.

[0046] Then, while the driver's brake pedal depression amount is kept constant (t2≤T≤t3), the braking force obtained by adding the current additive requested braking force (double dotted line) that is further reduced at a constant ratio and the driver's requested braking force (thin solid line) becomes the braking force (thick solid line) generated by the braking device 40.

[0047] Then, while the driver is performing a brake pedal retraction operation (t3<T<t4), the braking force obtained by adding the current additive requested braking force (double dotted line) after the operation amount reduction rate is further reduced and the driver's requested braking force (thin solid line) becomes the braking force (thick solid line) generated by the braking device 40.

[0048] Thereafter, during the period until the driver's braking operation is completed (t4≤T<t5), the braking force obtained by adding the requested braking force (double dotted line) after subtraction processing based on the driver's operation of the brake pedal (pedal increase, pedal hold, pedal retraction) and the driver's requested braking force (thin solid line) is also derived as the braking force (thick solid line) generated by the braking device 40.

[0049] Thus, in the braking control process of the present embodiment, when the driver performs a braking operation while the automatic braking control is being applied, the automatic braking request braking force at the time when the driver's braking operation is determined to be present is not simply added to the driver's request braking force, but a part of the automatic braking request braking force at the time when the driver's braking operation is determined to be present is added to the driver's request braking force to increase the braking force generated by the brake device 40. By this control, a braking force equal to the braking force obtained by adding the automatic braking request braking force and the driver's request braking force is generated immediately after the driver starts the braking operation, and when the driver wants to end the braking operation before the vehicle is decelerated and stopped, the automatic braking request braking force (addition request braking force) of the automatic braking control can be reduced to zero or near zero. Therefore, since it is possible to suppress the residual braking force by the automatic braking control when the driver performs the brake withdrawal operation for soft stop before the vehicle is stopped, the discomfort caused to the driver with respect to the behavior of the vehicle can be reduced.

[0050] <Function / Effect>

[0051] As described above, according to one embodiment of the present disclosure, the control device 10 collects and coordinates the braking requests generated from multiple applications using the automatic braking function and the braking requests generated by the driver's operation of the brake pedal. By processing in this way, even if the vehicle is equipped with many ECUs having applications that realize the driving assistance function, the coordination processing of multiple requests from the applications and the requests from the driver can be unified, so the discomfort caused to the driver can be reduced.

[0052] In addition, according to the control device 10 involved in the present embodiment, when the driver performs a brake operation during the automatic braking operation and the automatic braking control is released (overridden), the automatic braking control amount at that moment is understood as a part of the braking force requested by the driver, and the braking force estimated based on the driver's brake pedal operation amount is added to the braking force understood as the part, so that the braking force of the braking device 40 is increased. Moreover, the hydraulic pressure control amount of the braking device 40 is calculated based on the braking force increased by adding the braking force estimated based on the brake pedal operation amount to a part of the braking force based on the automatic braking control amount. Through this control, the driver's request braking force based on the driver's brake pedal operation is given priority, and the automatic braking request braking force based on the automatic braking control amount can be gradually attenuated while adding the driver's request braking force. Therefore, the vehicle behavior consistent with the driver's feeling can be achieved, and the discomfort caused to the driver can be reduced.

[0053] Here, it is also possible to configure such that it is possible to select whether to interpret the control amount of automatic braking as a part of the braking force requested by the driver, according to the characteristics of the application of the control amount of the request for automatic braking. In the case where the control amount of automatic braking is not interpreted as a part of the braking force requested by the driver, the braking force of the braking device 40 is maintained as the current state. By adopting such a structure, for example, even in a vehicle equipped with an application of a function (pre-collision safety, automatic parking, etc.) that realizes interpreting the driver's braking operation as external interference for the braking control amount calculated toward the target parking position, the present control device 10 can be applied.

[0054] In addition, according to the control device 10 involved in the present embodiment, calculations related to the brake control are implemented in the control device 10 that controls the brake device 40, and after the driver's operation of the brake pedal is detected, the hydraulic pressure control amount of the brake device 40 is calculated by referring only to the brake pedal operation amount. As a result, the brake control for realizing the vehicle behavior consistent with the driver's feeling can be performed with a simple structure.

[0055] An embodiment of the technology disclosed herein is described above, but in addition to a control device for a vehicle's braking control function, the technology disclosed herein can also be understood as a control system including a control device and other devices, a control method executed by a control device having a processor and a memory, a control program, a computer-readable non-temporary storage medium storing a control program, or a vehicle having a control device, etc.

[0056] The present disclosure is useful in a control device mounted on a vehicle or the like.

Claims

1. A vehicle control device, characterized in that: include: a receiving unit configured to receive a first braking request from a plurality of applications implementing a driving assistance function; an acquiring unit configured to acquire a second braking request related to a driver operation; a coordination unit configured to coordinate the first braking request and the second braking request; as well as an output unit configured to output a request to the actuator based on the coordination result of the coordination unit, in, The coordination unit is configured to coordinate such that the request output by the output unit to the actuator is increased or maintained based on the second braking request when the acquisition unit acquires the second braking request while the output unit is outputting the request to the actuator. The first braking request is an automatic braking request braking force corresponding to a control amount of automatic braking, The second braking request is a driver-requested braking force corresponding to the amount of operation of the brake pedal. The coordination unit is configured to coordinate the addition of the requested braking force for addition to the driver requested braking force when the acquisition unit acquires the driver requested braking force during the process in which the output unit is outputting the request to the actuator. The requested braking force for addition is a part of the automatic braking requested braking force at the moment when the acquisition unit acquires the driver requested braking force, which changes according to the operation amount of the brake pedal.

2. The vehicle control device according to claim 1, characterized in that: The coordination unit is configured to reduce the addition request braking force based on an increase rate of the operation amount of the brake pedal while the operation amount of the brake pedal is increasing.

3. The vehicle control device according to claim 1 or 2, characterized in that: The coordination unit is configured to reduce the addition request braking force at a predetermined ratio while the operation amount of the brake pedal is kept constant.

4. The vehicle control device according to claim 1 or 2, characterized in that: The coordination unit is configured to reduce the addition request braking force based on a reduction rate of the operation amount of the brake pedal while the operation amount of the brake pedal is decreasing.

5. An actuator system, comprising: i) receiving action plan requests from a plurality of devices equipped with functions of a plurality of ADAS applications; ii) coordinating the received plurality of action plan requests; iii) calculating a first motion request related to the combined braking involved in the plurality of ADAS applications based on the coordinated action plan requests, and being configured to receive the first motion request from a manager (MGR) mounted on a vehicle; The actuator system is characterized by comprising: an acquisition unit configured to acquire a second motion request related to braking related to a driver's operation; a coordination unit configured to coordinate the first motion request and the second motion request; and an output unit configured to output, to the actuator, a request for realizing the motion request obtained through the coordination of the coordination unit, in, The coordination unit is configured to coordinate in a manner such that the request output by the output unit to the actuator is increased or maintained based on the second motion request when the acquisition unit acquires the second motion request while the output unit is outputting the request to the actuator. The first motion request is an automatic braking request braking force corresponding to the control amount of the automatic braking, The second motion request is a driver-requested braking force corresponding to the amount of operation of the brake pedal. The coordination unit is configured to coordinate the addition of the requested braking force for addition to the driver requested braking force when the acquisition unit acquires the driver requested braking force during the process in which the output unit is outputting the request to the actuator. The requested braking force for addition is a part of the automatic braking requested braking force at the moment when the acquisition unit acquires the driver requested braking force, which changes according to the operation amount of the brake pedal.

6. A control method, executed by a computer mounted on a control device of a vehicle, characterized in that: include: accepting a first braking request from a plurality of applications implementing a driving assistance function; obtaining a second braking request related to the driver's operation; performing coordination between the first braking request and the second braking request; outputting a request to an actuator based on a result of the coordination; as well as When the second braking request is acquired during the process of outputting the request to the actuator, coordination is performed so that the request output to the actuator is increased or maintained based on the second braking request; The first braking request is an automatic braking request braking force corresponding to a control amount of automatic braking, The second braking request is a driver-requested braking force corresponding to the amount of operation of the brake pedal. When the driver requested braking force is obtained during the process of outputting a request to the actuator, coordination is performed to add the requested braking force for addition to the driver requested braking force, wherein the requested braking force for addition is a portion of the automatic braking requested braking force at the moment when the driver requested braking force is obtained and changes according to the operation amount of the brake pedal.

7. A non-transitory storage medium, characterized in that: A control program is stored which can be executed by a computer mounted on a control device of a vehicle and causes the computer to execute the control method according to claim 6 .

8. A vehicle, characterized in that: A control device comprising the control device according to any one of claims 1 to 4.

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