Manager, control method, non-transitory storage medium, and vehicle

Abstract

The present invention relates to a manager, a control method, a non-transitory storage medium, and a vehicle. The manager mounted on the vehicle includes a processor. The processor is configured to receive a plurality of action plans and identification information of the ADAS applications from a plurality of ADAS applications. The processor is configured to coordinate the plurality of action plans and is configured to calculate a motion request based on the coordination result. The processor is configured to allocate the motion request to at least one actuator system. The processor is configured to determine a stop hold mode of the vehicle based on the identification information of the ADAS application when a request related to the stop hold of the vehicle is included in the plurality of action plans.

Description

Technical Field

[0001] The present disclosure relates to a manager mounted on a vehicle, a control method, a non-transitory storage medium, and a vehicle. Background Art

[0002] In recent years, a plurality of application programs for implementing driving assistance functions (such as autonomous driving and automatic parking) have been installed in vehicles. Japanese Patent Laid-Open No. 2020-032894 discloses a control device (manager) that respectively receives requests output from these plurality of application programs, coordinates the plurality of requests received from the plurality of application programs, and outputs a request for driving an actuator (such as a steering device and a braking device) based on the coordination result.

[0003] Among the application programs installed in a vehicle, there are a plurality of advanced driver assistance applications (ADAS (Advanced Driver Assistance System) application programs) whose requests are to keep the vehicle in a stopped state. In such a plurality of ADAS application programs, when the modes (devices, mechanisms, actions, etc.) for keeping the vehicle in a stopped state are different, for example, a method of respectively outputting requests related to stop holding and their modes from each electronic control unit (ECU: Electronic Control Unit) that installs the ADAS application program to the manager can be considered. However, in the method of making each ECU output requests related to stop holding and their modes, there is a concern that the design of the ECU and the interface (I / F) that installs the ADAS application program becomes complicated. Summary of the Invention

[0004] The present disclosure provides a manager, a control method, a non-transitory storage medium, and a vehicle that can implement a stop holding mode corresponding to a request from an application program without complicating the design of the ECU and the interface that install the application program.

[0005] The manager according to the first aspect of the present disclosure technology is mounted on a vehicle and includes one or more processors. The processor is configured to receive a plurality of action plans and identification information of the ADAS application program from a plurality of ADAS application programs. The processor is configured to coordinate the plurality of action plans and is configured to calculate a motion request based on the coordination result. The processor is configured to allocate the motion request to at least one actuator system. The processor is configured to determine the stop holding mode of the vehicle according to the identification information of the ADAS application program when a request related to stop holding of the vehicle is included in the plurality of action plans.

[0006] In the manager according to the first aspect of the present disclosure technology, a request related to vehicle stop holding may include an instruction related to allowing or prohibiting the operation of at least one of a brake hold function, an electric parking brake locking function, and a parking locking function. The manager according to the first aspect of the present disclosure technology may further include a storage unit configured to store by associating the identification information of the ADAS application program and the information related to the vehicle stop holding mode. The processor may be configured to, when a request related to vehicle stop holding is included in a plurality of action plans, determine the vehicle stop holding mode corresponding to the identification information of the ADAS application program based on the information stored in the storage unit.

[0007] In the manager according to the first aspect of the present disclosure technology, the vehicle stop holding mode may include at least one of a first mode, a second mode, and a third mode. The first mode may be a mode in which vehicle stop holding control is performed according to the driver's driving operation only when there is a driver's driving intention. The second mode may be a mode in which vehicle stop holding control is performed according to the driver's driving operation when there is a driver's driving intention, and vehicle stop holding control is performed based on a motion request when there is no driver's driving intention. The third mode may be a mode in which vehicle stop holding control is performed based on a motion request regardless of the driver's driving intention and the driver's driving operation. In the manager according to the first aspect of the present disclosure technology, the presence or absence of the driver's driving intention may be determined based on at least one of the wearing and removing behavior of the seat belt and the opening and closing behavior of the door. In the manager according to the first aspect of the present disclosure technology, the driver's driving operation may include an acceleration operation and a braking operation.

[0008] The control method according to the second aspect of the present disclosure technology is executed by a computer of a manager mounted on a vehicle. The control method includes: receiving a plurality of action plans and the identification information of the ADAS application program from a plurality of ADAS application programs; coordinating the plurality of action plans; in the coordination, when a request related to vehicle stop holding is included in the plurality of action plans, determining the vehicle stop holding mode according to the identification information of the ADAS application program; calculating a motion request based on the coordinated result obtained by the coordination; and allocating the motion request to at least one actuator system.

[0009] The non - transitory storage medium according to the third aspect of the present disclosure stores commands that can be executed by a computer of a manager mounted on a vehicle and cause the computer to execute the following functions. The functions include: receiving a plurality of action plans and identification information of ADAS applications from a plurality of ADAS applications; coordinating the plurality of action plans; during the coordination, when a request related to the stop and hold of the vehicle is included in the plurality of action plans, determining the stop - hold mode of the vehicle based on the identification information of the ADAS application; calculating a motion request based on the coordinated result obtained from the coordination; and allocating the motion request to at least one actuator system. The vehicle according to the fourth aspect of the present disclosure is equipped with the manager described above.

[0010] According to the manager according to the first aspect of the present disclosure, the control method according to the second aspect, the non - transitory storage medium according to the third aspect, and the vehicle according to the fourth aspect, it is possible to implement a stop - hold mode corresponding to a request from an application without making the design of the ECU equipped with the application and the interface cumbersome. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Hereinafter, the features, advantages, technology, and industrial importance of the exemplary embodiments of the present invention will be described with reference to the drawings, in which the same reference numerals denote the same components, where:

[0012] Figure 1 It is a structural diagram showing a manager and its peripheral parts according to an embodiment of the present disclosure.

[0013] Figure 2 It is an example of stop - hold processing information stored in the storage unit.

[0014] Figure 3 It is a flowchart of the processing steps of the coordination control executed by the coordination unit of the manager. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0015] The manager of the present disclosure stores in advance an association between the mode of the stop - hold process of the vehicle requested by the application and the unique identification information given to the application. Moreover, when a request related to the stop and hold of the vehicle is included in the requests for vehicle motion received from a plurality of applications, the manager determines the stop - hold mode of the vehicle based on the identification information of the application based on the result of coordinating a plurality of requests for vehicle motion, and controls the stop and hold of the vehicle in the determined mode. Hereinafter, an embodiment of the present disclosure will be described in detail with reference to the drawings.

[0016] <Embodiment>

[0017] [Structure]

[0018] Figure 1 FIG. Figure 1 is a diagram showing a structural example of a vehicle-mounted manager 10 and its peripheral parts according to an embodiment of the present disclosure. Figure 1 As shown, the manager 10 is communicably connected via a vehicle network 100 to a driving assistance system 20, a plurality of actuator systems 30 and 40, an accelerator pedal sensor 50, a brake pedal sensor 60, a seat belt SW 70, and a door SW 80. The vehicle network 100 can be exemplified by CAN (Controller Area Network), Ethernet (registered trademark), or the like.

[0019] The driving assistance system 20 is a structure for realizing various functions for assisting the driving of a vehicle including at least drive control and brake control of the vehicle by executing an installed application program. As the application programs installed in the driving assistance system 20, an application program for realizing an automatic driving function, an application program for realizing an automatic parking function, an ADAS application program for realizing an advanced driving assistance function, etc. can be exemplified. The ADAS application programs include an application program for realizing a collision avoidance assistance (PCS, etc.) function, an application program for realizing a following vehicle running (ACC, etc.) function of running while keeping a constant inter-vehicle distance from a preceding vehicle, an application program for realizing a lane keeping assistance (LKA, LTA, etc.) function of maintaining the lane being traveled, an application program for realizing a collision loss reduction brake (AEB, etc.) function of automatically applying a brake to reduce the loss of a collision, an application program for realizing a lane departure warning (LDW, LDA, etc.) function of warning of departure from the running lane of the vehicle, etc.

[0020] Each application program of the driving assistance system 20 outputs a request for an action plan that guarantees the unique functionality (commercial quality) of the application program to the manager 10 based on vehicle information (recognition sensor information, etc.) obtained (input) from various sensors (not shown), etc. as a request for the application program. The action plan includes requests related to the longitudinal acceleration / deceleration generated by the vehicle, requests related to the stop holding of the vehicle, etc. As a request related to the stop holding of the vehicle, an instruction related to the permission and prohibition of the operation of at least one of a brake holding function of holding the hydraulic pressure to maintain the braking state, an electric parking brake lock (EPB lock) function of pressing a brake pad against a disc rotor using an electric motor to maintain the braking state, and a parking lock (P lock) function of fixing the gear position to the parking position can be exemplified. In addition, each application program of the driving assistance system 20 outputs the identification information (hereinafter referred to as "application ID") that can uniquely identify its own application program to the manager 10 together with the action plan. The application ID is uniquely determined in advance for each application program.

[0021] The driving assistance system 20 is implemented by a computer such as an electronic control unit (ECU: Electronic Control Unit) having a processor such as a CPU, a memory, and an input / output interface. Among them, the number of application programs installed in the driving assistance system 20 is not particularly limited. In addition, as the driving assistance system 20, respective ECUs can be set for each application program. For example, the driving assistance system 20 can be constituted by an autonomous driving ECU installed with an autonomous driving application program, a hill-hold ECU installed with a hill-hold application program, and an ADAS-ECU installed with an advanced driving assistance application program. In addition, multiple ADAS application programs can be installed in multiple ECUs, such as an ECU installed with an ADAS application program for implementing the ACC function, an ECU installed with an ADAS application program for implementing the LKA function, and an ECU installed with an ADAS application program for implementing the AEB function.

[0022] The multiple actuator systems 30 and the actuator system 40 are one of the implementation systems for implementing the requests of the action plans output by the driving assistance system 20. As an example, the actuator system 30 includes a powertrain actuator (engine, transformer, etc.) capable of generating a driving force for the vehicle, and implements the requests of the action plan by controlling the operation of the powertrain actuator. In addition, as an example, the actuator system 40 includes a braking actuator (hydraulic brake, electric parking brake, etc.) capable of generating a braking force for the vehicle, and implements the requests of the action plan by controlling the operation of the braking actuator. Among them, the number of actuator systems mounted on the vehicle is not particularly limited.

[0023] The accelerator pedal sensor 50 is a sensor for detecting the amount of depression of the accelerator pedal operated by the driver of the vehicle, that is, the accelerator operation amount. The brake pedal sensor 60 is a sensor for detecting the amount of depression of the brake pedal operated by the driver of the vehicle, that is, the brake operation amount. The seat belt SW 70 is a switch for detecting the worn / removed state of the seat belt. The door SW 80 is a switch for detecting the open / closed state of the door. The accelerator pedal sensor 50 and the brake pedal sensor 60 are used to determine the driving operation of the driver. In addition, the accelerator pedal sensor 50, the brake pedal sensor 60, the seat belt SW 70, and the door SW 80 are used to determine the presence or absence of the intention of the driver to drive (including the use without traveling) the vehicle (hereinafter referred to as "the driving intention of the driver").

[0024] The manager 10 determines the control content related to the movement of the vehicle based on the request for the action plan received from the driving assistance system 20, and outputs the required request to the actuator system 30 and / or the actuator system 40 based on the determined control content. In addition, the manager 10 determines the mode of the stop hold process based on the application ID obtained from the driving assistance system 20 together with the request for the action plan, and the driver state and vehicle state that can be obtained from the accelerator pedal sensor 50, the brake pedal sensor 60, the seat belt SW 70, the door SW 80, etc.

[0025] The manager 10 functions as so-called ADAS-MGR, Vehicle-MGR, etc. related to the movement of the vehicle, or functions as a part of ADAS-MGR, Vehicle-MGR, and controls the activities of the vehicle. The manager 10 includes a reception unit 11, a coordination unit 12, a calculation unit 13, a distribution unit 14, and a storage unit 15.

[0026] The reception unit 11 receives the request for the action plan and the application ID output by one or more application programs of the driving assistance system 20. As the action plan in this embodiment, the acceleration related to the longitudinal movement of the vehicle and the request related to the stop hold of the vehicle can be exemplified. The request for the action plan and the application ID received by the reception unit 11 are output to the coordination unit 12.

[0027] The coordination unit 12 coordinates the requests for the action plans received by the reception unit 11 from the respective application programs of the driving assistance system 20. As the processing of this coordination, selecting one action plan from among the multiple action plans based on a specified selection criterion can be exemplified. In addition, as the processing of coordination, a new action plan can also be set based on the multiple action plans. Furthermore, the coordination unit 12 can also coordinate the requests for the action plans based on the information indicating the availability obtained from the actuator system 30 and the actuator system 40.

[0028] In addition, the coordination unit 12 determines the mode of the stop hold process related to the hold control of the stop state of the vehicle according to the application program of the action plan after the request is coordinated. This determination is made based on the stop hold process information stored in the storage unit 15 described later. And the coordination unit 12 appropriately judges whether to temporarily prioritize the mode of the stop hold process corresponding to the driver state and vehicle state over the mode of the stop hold process determined based on the coordination result (coordination of the mode). The determination and priority judgment of the mode of the stop hold process will be described later.

[0029] The calculation unit 13 calculates a motion request based on the coordination result of the request for the action plan in the coordination unit 12 and the mode of the stop hold process determined based on the coordination result. The motion request is a physical quantity for controlling the actuator system 30 and / or the actuator system 40, and is different from the physical quantity of the request for the action plan. For example, when the request (the first request) for the action plan is acceleration, the driving force and the driving torque can be calculated as the motion request (the second request). Thus, the request for acceleration is transformed into the request for the driving force and the driving torque.

[0030] The distribution unit 14 distributes the motion request calculated by the calculation unit 13 to at least one of the actuator systems 30 and / or the actuator system 40.

[0031] The storage unit 15 stores information (stop hold process information) indicating the mode of the stop hold process of the vehicle suitable for each application program installed in the driving assistance system 20. Figure 2 is an example of the stop hold process information stored in the storage unit 15. As Figure 2 shown, in this stop hold process information, the mode of the stop hold process (any one of the first mode, the second mode, and the third mode) that is default applied when the action plan of the application program assigned with the application ID is coordinated is stored in association with each such application ID. These modes are preset from the viewpoints of the request content of the application program and the safety design.

[0032] For example, the first mode can be a mode in which the stop hold control corresponding to the driving operation of the driver is executed only when the driver is the sovereign of the vehicle control and it is determined that the driver has the intention to drive the vehicle. For example, it can be determined that the driver has the intention to drive the vehicle based on at least one of the completion of the behavior of taking off the seat belt and the completion of the behavior of opening and closing the door. As the driving operation of the driver accompanied by the stop hold of the vehicle, the stepping on of the brake pedal, the operation of the parking brake, etc. can be exemplified. In this first mode, the maximum braking force among the multiple braking forces respectively requested based on the coordination result of the coordination unit 12 and the braking operation amount of the driver is used to maintain the stopped state of the vehicle. In this stop hold, the unnecessary actuators do not operate.

[0033] In addition, for example, the second mode can be a mode in which, when it is determined that the driver has the intention to drive the vehicle, the control corresponding to the driver's operation is executed with the driver as the sovereign of vehicle control for stop holding, and when it is determined that the driver has no intention to drive the vehicle, the control for stop holding determined by the advanced safety function mounted on the vehicle is executed with the advanced safety function mounted on the vehicle as the sovereign of vehicle control. In this second mode, when the control for stop holding is executed with the advanced safety function as the sovereign of vehicle control, the stop state of the vehicle is maintained by the EPB locking operation.

[0034] In addition, for example, the third mode can be a mode in which, regardless of the driver's intention to drive the vehicle, the control for stop holding determined by the advanced safety function mounted on the vehicle is executed with the advanced safety function mounted on the vehicle as the sovereign of vehicle control. In this third mode, the stop state of the vehicle is maintained by the EPB locking operation or the P locking operation.

[0035] The content and classification of the above-described first mode, second mode, and third mode are examples, and can be changed, added, etc. according to the request content from the application program installed in the driving assistance system 20, the driver state, and the change (variation) of the vehicle state, etc.

[0036] In addition, the structure of the devices mounted on the vehicle and the structure of the manager 10 described above are examples, and can be appropriately added, replaced, changed, omitted, etc. In addition, the functions of each device can be appropriately integrated into one device or distributed and installed in multiple devices. For example, the function of determining the mode of the stop holding process of the vehicle among the functions of the coordination unit 12 of the manager 10 can be installed in another device different from the manager 10, or installed in the actuator system 30 and / or the actuator system 40. In addition, the manager 10 can be mounted on the brake ECU.

[0037] [Control]

[0038] Furthermore, with reference to Figure 3 the coordination control executed by the manager 10 according to the present embodiment will be described. Figure 3 It is a flowchart for explaining the processing steps of the coordination control executed by the coordination unit 12 of the manager 10.

[0039] If the reception unit 11 of the manager 10 receives a request for an action plan (acceleration) from the application program of the driving assistance system 20, the Figure 3 shown coordination control is started.

[0040] (Step S301)

[0041] The coordination unit 12 coordinates the action plans requested from the applications. In this embodiment, an example of coordinating to select one action plan from multiple action plans requested from multiple applications respectively is shown. If the action plans are coordinated, the process proceeds to step S302.

[0042] (Step S302)

[0043] The coordination unit 12 determines whether the action plan requested from the application includes a request related to the vehicle's stop hold. When the action plan includes a request related to the vehicle's stop hold (Step S302, Yes), the process proceeds to step S303. When the action plan does not include a request related to the vehicle's stop hold (Step S302, No), the process proceeds to step S305.

[0044] (Step S303)

[0045] The coordination unit 12 determines the application ID assigned to the application that requests to output the coordinated action plan. If the application ID of the application is determined, the process proceeds to step S304.

[0046] (Step S304)

[0047] The coordination unit 12 determines the mode of the stop hold process applied to vehicle control based on the determined application ID. This determination is made based on the stop hold process information stored in the storage unit 15. For example, when the stop hold process information is Figure 2 the information shown, if the determined application ID is "1", then "the first mode" is determined to be applied as the stop hold process. After this determination, the manager 10 (or a structure other than the manager 10) implements control related to maintaining the vehicle's stopped state in accordance with the content defined by the determined mode. If the mode of the stop hold process is determined, the process proceeds to step S305.

[0048] (Step S305)

[0049] The coordination unit 12 determines whether coordination of the action plan requested from the application is required. A situation where coordination of this action plan is required is, for example, when a new action plan is requested from one or more applications and coordination of the action plan is required again, or when the specified timing for reconsidering the coordination of the action plan arrives. When it is determined that coordination of the action plan is required (Step S305, Yes), the process proceeds to step S301. When it is determined that coordination of the action plan is not required (Step S305, No), the process proceeds to step S306.

[0050] (Step S306)

[0051] The coordination unit 12 obtains the driver state and the vehicle state from the devices mounted on the vehicle (the illustrated device and devices not illustrated). As the driver state, the awareness state of the driver can be exemplified. As the vehicle state, the parking time of the vehicle can be exemplified. If the driver state and the vehicle state are obtained, the process proceeds to step S307.

[0052] (Step S307)

[0053] The coordination unit 12 determines whether there is a stop-holding process mode that is prioritized regardless of the mode of the stop-holding process currently applied to vehicle control based on the coordination result. This determination is made based on the driver state and the vehicle state. As an example, consider a situation where, when the ACC is operating, the vehicle is in a state where it is stopped and controlled in the first mode of driver sovereignty, and the driver accidentally steps on the accelerator pedal without awareness (such as drowsiness). In this case, a specified in-vehicle device detects the loss of awareness of the driver and requests the coordination unit 12 to switch to the third mode where the advanced safety function is the sovereignty of vehicle control. The coordination unit 12 determines, based on the request from the specified in-vehicle device, that it is a situation where the third mode should be temporarily prioritized, and switches the mode of the stop-holding process from the first mode to the third mode (coordination of modes). Through this mode switch, control is performed to invalidate the driver's accelerator pedal operation. In this way, the safe continuation of the vehicle's stopped state can be enabled. In addition, this mode switch temporarily changes the mode of the stop-holding process determined based on the coordination result without rewriting the stop-holding process information stored in the storage unit 15. Therefore, for example, if the driver state and the vehicle state return to their original states, the control continues in the mode of the stop-holding process determined based on the coordination result. When it is determined that there is a prioritized stop-holding process mode (step S307, yes), the process proceeds to step S308, and when it is determined that there is no prioritized stop-holding process mode (step S307, no), the process proceeds to step S309.

[0054] (Step S308)

[0055] The coordination unit 12 sets the mode of the stop-holding process applied to vehicle control to the prioritized stop-holding process mode determined to be required in step S307 above, and ends this routine.

[0056] (Step S309)

[0057] The coordination unit 12 sets the mode of the stop-holding process applied to vehicle control to the mode of the stop-holding process based on the coordination result determined in step S304 above (default stop-holding process mode), and ends this routine.

[0058] <Function / Effect>

[0059] As described above, according to an embodiment of the present disclosure, stop holding process information associating the mode of the stop holding process of the vehicle requested by the ADAS application with the inherent application ID given to the ADAS application is pre-stored in the manager. Moreover, when a request for an action plan received from multiple ADAS applications includes a request related to the stop holding of the vehicle, the manager determines the mode of the stop holding of the vehicle based on the application ID resulting from the coordination of multiple action plans, and controls the stop holding of the vehicle in the determined mode.

[0060] Thereby, the manager can appropriately determine the mode of the stop holding of the vehicle only by referring to the stop holding process information stored in its own storage unit, regardless of the ADAS applications installed in the vehicle (driver assistance system). As a result, the design of the ECU and interface equipped with the application does not become complicated, and the mode of the stop holding corresponding to the request from the application can be realized. In addition, the communication load between each ADAS application and the manager can be reduced, and the functional interference between multiple ADAS applications can be avoided.

[0061] In addition, since the manager centrally manages the mode of the stop holding of the vehicle, when a new ADAS application is installed in the vehicle, it is only necessary to add data associating the application ID of the ADAS application with the mode to the stop holding process information. In addition, even when a new ADAS application that cannot be handled in the existing mode is installed in the vehicle, by defining a new mode and reflecting it in the stop holding process information, the new mode can be handled.

[0062] As described above, an embodiment of the present disclosure technology has been described. However, the present disclosure can be understood not only as a manager mounted on a vehicle, but also as a control system including the manager, a control method executed by a manager having a processor and a memory, a control program, a computer-readable non-transitory storage medium storing the control program, or a vehicle having the manager, etc.

[0063] The present disclosure is useful in a manager or the like mounted on a vehicle or the like.

Claims

1. A manager mounted on a vehicle, characterized in that: It includes: A storage unit that stores the identification information of the ADAS application program and the information related to the stop state holding mode of the vehicle, and the identification information of the ADAS application program and the information related to the stop state holding mode are associated with each other; and One or more processors configured as follows: Receiving multiple action plans and the identification information of the ADAS application program from multiple ADAS application programs, that is, advanced driving assistance application programs; Configured to coordinate the action plans and configured to generate a coordination result including at least one action plan selected from the multiple action plans; Calculating a motion request based on the coordination result; Allocating the motion request to at least one actuator system; and When at least one of the selected multiple action plans includes a request related to the stop holding of the vehicle, determining the stop state holding mode of the vehicle according to the saved association between the identification information of the ADAS application program and the information related to the stop state holding mode of the vehicle.

2. The manager according to claim 1, characterized in that: The request related to the stop holding of the vehicle includes an instruction related to the permission or prohibition of the operation of at least one of the brake hold function, the electric parking brake locking function, and the parking locking function.

3. The manager according to claim 1, characterized in that: The stop holding mode of the vehicle includes at least one of a first mode, a second mode, and a third mode. The first mode is a mode in which the stop holding control of the vehicle is executed according to the driving operation of the driver only when there is a driving intention of the driver. The second mode is a mode in which the stop holding control of the vehicle is executed according to the driving operation of the driver when there is a driving intention of the driver, and the stop holding control of the vehicle is executed based on the motion request when there is no driving intention of the driver. The third mode is a mode in which the stop holding control of the vehicle is executed based on the motion request regardless of the driving intention and driving operation of the driver.

4. The manager according to claim 3, characterized in that: Determining the presence or absence of the driving intention of the driver based on at least one of the wearing and removing behavior of the seat belt and the opening and closing behavior of the door.

5. The manager according to claim 3, characterized in that: The driving operation of the driver includes an acceleration operation and a braking operation.

6. A control method, which is executed by a computer of a manager mounted on a vehicle, characterized in that, The control method includes: Storing the identification information of the ADAS application program and the information related to the stop state holding mode of the vehicle, and the identification information of the ADAS application program and the information of the stop state holding mode are associated with each other; Receiving multiple action plans and the identification information of the ADAS application program from multiple ADAS application programs, that is, advanced driving assistance application programs; Coordinate the action plans to generate a coordination result of action plans including at least one selected from the multiple action plans. When at least one of the action plans selected during the coordination includes a request related to maintaining the stopped state of the vehicle, determine the stopped state maintenance mode of the vehicle according to the saved association between the identification information of the ADAS application and the information related to the stopped state maintenance mode of the vehicle; Calculate a motion request based on the coordination result obtained from the coordination; and Allocate the motion request to at least one actuator system.

7. A non-transitory storage medium, characterized in that the non-transitory storage medium stores commands that can be executed by a computer of a manager mounted on a vehicle and cause the computer to execute the following functions: Save the identification information of the ADAS application and the information related to the stopped state maintenance mode of the vehicle, and establish an association between the identification information of the ADAS application and the information of the stopped state maintenance mode; Receive multiple action plans and the identification information of the ADAS application from multiple ADAS applications, namely advanced driving assistance applications; Coordinate the action plans to generate a coordination result of action plans including at least one selected from the multiple action plans. When at least one of the action plans selected during the coordination includes a request related to maintaining the stopped state of the vehicle, determine the stopped state maintenance mode of the vehicle according to the saved association between the identification information of the ADAS application and the information related to the stopped state maintenance mode of the vehicle; Calculate a motion request based on the coordination result obtained from the coordination; and Allocate the motion request to at least one actuator system.

8. A vehicle, characterized in that it is equipped with the manager according to claim 1.

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