Manager, electronic control unit, system, control method, recording medium

Abstract

The present disclosure relates to a manager, an electronic control unit, a system, a control method, and a recording medium. A manager mounted on a vehicle includes a first reception unit that receives a plurality of action plans from a plurality of ADAS applications, a coordination unit that coordinates the plurality of action plans, a calculation unit that calculates a motion request based on a result of the coordination by the coordination unit, and an allocation unit that allocates the motion request to at least one actuator system, wherein the first reception unit receives the action plans and information related to the actuator system to which the allocation unit allocates the motion request from the ADAS applications.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a manager mounted on a vehicle, an electronic control unit mounted on a vehicle, a system, a control method, a recording medium, a vehicle, and a control device mounted on a vehicle. BACKGROUND

[0002] In recent years, a plurality of advanced driver assistance applications (ADAS (Advanced Driver Assistance System) applications) that realize automatic driving, automatic parking, and the like are installed in a vehicle. A manager (control device) that receives requests output from the plurality of ADAS applications respectively, coordinates the plurality of received requests, and outputs a request for driving a motor system (a system including a powertrain motor, a brake motor, and the like) based on a result of the coordination is disclosed in Japanese Patent Application Publication No. 2020-032894.

[0003] The manager decides a request to be adopted as a result of the coordination in accordance with a prescribed selection criterion (for example, Min selection) based on a size relationship of the plurality of received requests. However, the manager does not grasp a motor system that is suitable for driving in order to realize a request of each ADAS application. Therefore, when an arbitrary ADAS application requests an action plan that cannot be realized in a current vehicle situation, there is a concern that the action plan of the arbitrary ADAS application is adopted as a result of the coordination based on the size relationship of the plurality of requests. SUMMARY

[0004] The present disclosure is achieved in view of the above-described problem, and an object thereof is to provide a manager and the like that can grasp a motor system that is suitable for driving in order to realize a request of each ADAS application.

[0005] A manager according to an embodiment of the present disclosure is a manager mounted on a vehicle. The manager includes a first reception unit that receives a plurality of action plans from a plurality of ADAS applications, a coordination unit that coordinates the plurality of action plans, a calculation unit that calculates a motion request based on a result of the coordination by the coordination unit, and a distribution unit that distributes the motion request to at least one motor system. The first reception unit receives the action plans and information related to the motor system to which the motion request is distributed from the ADAS applications.

[0006] The manager according to the embodiment of the present disclosure can be mounted on a vehicle.

[0007] The electronic control unit according to one embodiment of the present disclosure is an electronic control unit mounted on a vehicle and installed with one or more ADAS applications. The electronic control unit includes an output unit that outputs a plan of action of the ADAS application and information related to a motor system allowed to be used for achieving the plan of action to a manager.

[0008] The system according to one embodiment of the present disclosure includes a plurality of ADAS applications mounted on a vehicle and installed on one or more electronic control units, and a manager. The one or more electronic control units include an output unit that outputs a plurality of plans of action requested by the plurality of ADAS applications to the manager. The manager includes a reception unit that receives the plurality of plans of action from the plurality of ADAS applications, a coordination unit that coordinates the plurality of plans of action, a calculation unit that calculates a motion request based on a result of the coordination by the coordination unit, and a distribution unit that distributes the motion request to at least one motor system. The reception unit receives the plan of action and information related to the motor system to which the motion request is distributed by the distribution unit from the ADAS application.

[0009] The control method according to one embodiment of the present disclosure is a control method executed by a computer of a manager mounted on a vehicle including at least one motor system. The control method includes receiving a plan of action and information related to a motor system used for achieving the plan of action from a plurality of ADAS applications, coordinating the plurality of plans of action, calculating a motion request based on a result of the coordination, and distributing the motion request to at least one motor system based on the information.

[0010] The recording medium according to one embodiment of the present disclosure is a non-transitory recording medium on which a program is recorded and readable by a computer. The program is executed by the computer of a manager mounted on a vehicle including at least one motor system, so that the computer receives a plan of action and information related to a motor system used for achieving the plan of action from a plurality of ADAS applications, coordinates the plurality of plans of action, calculates a motion request based on a result of the coordination, and distributes the motion request to at least one motor system based on the information.

[0011] The control device according to one embodiment of the present disclosure is a control device mounted on a vehicle. The control device includes one or more processors. The one or more processors are configured to receive a plurality of action plans from a plurality of ADAS applications, to perform coordination of the plurality of action plans, to calculate a motion request based on a result of the coordination, and to distribute the motion request to at least one actuator system. The one or more processors are configured to receive the action plans and information related to the actuator system to which the motion request is distributed from the ADAS applications.

[0012] According to the present disclosure, since the action plans and information related to the actuator system to which the motion request is distributed are received from the ADAS applications, the manager can grasp the actuator system that is suitable for driving in order to achieve the request of each ADAS application. BRIEF DESCRIPTION OF DRAWINGS

[0013] Features, advantages, technical and industrial significance of the preferred embodiments of the present application will be described below with reference to the accompanying drawings. The same reference numerals in different drawings denote the same element.

[0014] Figure 1 is a diagram showing a configuration example of a system according to one embodiment of the present disclosure.

[0015] Figure 2 is a flowchart of a processing procedure of a coordination control performed by a coordination unit of a manager.

[0016] Figure 3 is a diagram for explaining a coordination example of requested accelerations of a plurality of ADAS applications. DETAILED DESCRIPTION

[0017] The manager according to the present disclosure receives an action plan and information related to an actuator that is allowed to be used in order to achieve the action plan from an application. Further, the manager limits a request of an application that requests an action plan that cannot be achieved in a current vehicle state based on the action plan, the information, and a lower limit of a driving force of a powertrain actuator before the coordination is performed. Thus, the manager can grasp an actuator system that is suitable for driving in order to achieve a request of each application, and can appropriately coordinate action plans requested from a plurality of applications. Hereinafter, one embodiment of the present disclosure will be described in detail with reference to the drawings.

[0018] <EMBODIMENT>

[0019] [Configuration]

[0020] Figure 1 is a diagram showing a configuration example of a system 1 according to one embodiment of the present disclosure mounted on a vehicle. Figure 1The illustrated system 1 includes a manager 10, a drive assist system 20, and a plurality of actuator systems 30 and 40. The components included in the system 1 are connected to be communicable via an in-vehicle network 100. The in-vehicle network 100 can be exemplified by a CAN (Controller Area Network), an Ethernet (registered trademark), or the like.

[0021] The drive assist system 20 is a configuration for realizing various functions for assisting driving of a vehicle including at least drive control and brake control of the vehicle by executing an installed application. As the application installed in the drive assist system 20, an automatic driving application realizing a function of automatic driving, an automatic parking application realizing a function of automatic parking, an ADAS application realizing a function of advanced drive assist, and the like can be exemplified. Among the ADAS applications, there are an application realizing a function of collision avoidance assist (PCS or the like), an application realizing a function of forward vehicle following running (ACC or the like) in which a distance to a preceding vehicle is kept constant, an application realizing a function of lane keeping assist (LKA, LTA or the like) in which a lane in which a vehicle is running is maintained, an application realizing a function of collision damage mitigation braking (AEB or the like) in which braking is automatically performed in order to mitigate damage in a collision, an application realizing a function of lane departure warning (LDW, LDA or the like) in which a vehicle is warned of departure from a running lane, and the like.

[0022] Each application of the drive assist system 20 inputs a request for an action plan that ensures functionality (merit) of the application itself to the manager 10 as a request of the application based on information (recognition sensor information or the like) of the vehicle acquired (input) from various sensors or the like not illustrated. The action plan includes a request related to acceleration / deceleration of the vehicle, and the like. In addition, each application of the drive assist system 20 can output identification information (application ID) of the application itself that can be uniquely determined together with the action plan to the manager 10. The application ID is uniquely set for each application in advance. Furthermore, each application of the drive assist system 20 outputs information related to an actuator that is allowed to be used in order to realize the action plan itself to the manager 10. The information is also a distribution instruction that instructs an actuator to which a motion request is distributed to the distribution section 14 of the manager 10 described later. The distribution instruction will be described later.

[0023] The drive assist system 20 is realized 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 (output section). Furthermore, the number of ECUs constituting the drive assist system 20, and the number of applications installed in the ECUs are not particularly limited. In addition, as the drive assist system 20, a separate ECU can be provided for each application. For example, the drive assist system 20 can be constituted by an automatic driving ECU in which an automatic driving application is installed, an automatic parking ECU in which an automatic parking application is installed, and an ADAS-ECU in which an advanced drive assist application is installed. In addition, a plurality of ADAS applications can be installed in a plurality of ECUs, like an ECU in which an ADAS application realizing an ACC function is installed, an ECU in which an ADAS application realizing an LKA function is installed, and an ECU in which an ADAS application realizing an AEB function is installed.

[0024] The plurality of actuator systems 30 and 40 are implementation systems for realizing the request of the action plan output by the drive assist system 20. As one example, the actuator system 30 includes a powertrain actuator (engine, transmission, etc.) capable of generating a braking driving force of the vehicle, and realizes the request of the action plan by controlling the operation of the powertrain actuator. In addition, as one example, the actuator system 40 includes a brake actuator (hydraulic brake, electric parking brake, etc.) capable of generating a braking force of the vehicle, and realizes the request of the action plan by controlling the operation of the brake actuator. Furthermore, the number of actuator systems mounted on the vehicle is not particularly limited.

[0025] The manager 10 decides the control content related to the movement of the vehicle based on the request of the action plan received from the drive assist system 20, and outputs the required request to the actuator system 30 and / or 40 based on the decided control content. In addition, the manager 10 performs distribution of the movement request to the plurality of actuator systems 30 and / or 40 based on the distribution instruction acquired from the drive assist system 20 together with the request of the action plan.

[0026] The manager 10 functions as a so-called ADAS-MGR, Vehicle-MGR, etc. related to the movement of the vehicle, or as a part of the ADAS-MGR, Vehicle-MGR, and controls the activity of the vehicle. The manager 10 includes a reception section 11, a coordination section 12, a calculation section 13, and a distribution section 14.

[0027] The reception unit 11 (first reception unit) receives a request for an action plan output from a plurality of applications of the drive assist system 20 and an allocation instruction. As the action plan in the present embodiment, an acceleration related to a forward-backward direction (longitudinal direction) movement of the vehicle can be exemplified. In addition, the reception unit 11 (second reception unit) receives a drive force lower limit (availability lower limit) from the actuator system 30 including the powertrain actuator. The drive force lower limit is a lower limit value (minimum drive force) of a drive force that the powertrain actuator can achieve in an accelerator full-off state where the accelerator pedal is not depressed in a current gear ratio (gear). The request for the action plan received by the reception unit 11 and the drive force lower limit are output to the coordination unit 12.

[0028] The coordination unit 12 coordinates the requests for a plurality of action plans received by the reception unit 11 from the respective applications of the drive assist system 20. As the process of this coordination, an example can be given in which one action plan is selected from among the plurality of action plans based on a prescribed selection criterion (for example, Min selection). In addition, as another coordination process, a new action plan can also be set based on the plurality of action plans. At this time, the coordination unit 12 coordinates the requests for a plurality of action plans based on the allocation instructions received from the respective applications and the drive force lower limit acquired from the actuator system 30. The coordination will be described later.

[0029] The calculation unit 13 calculates a movement request based on the coordination result of the requests for action plans in the coordination unit 12. This movement request is a physical quantity for controlling the actuator system 30 and / or 40, and is different from the physical quantity of the request for the action plan. For example, in the case where the request for the action plan (first request) is an acceleration, a drive force and a drive torque can be calculated as the movement request (second request). Thereby, the request for the acceleration is converted into the request for the drive force and the drive torque.

[0030] The allocation unit 14 allocates the movement request calculated by the calculation unit 13 to at least one actuator system 30 and / or 40. At this time, the allocation unit 14 allocates the movement request to the actuator system indicated by the allocation instruction received by the reception unit 11 together with the action plan adopted as the coordination result in the coordination unit 12. For example, if it is an allocation instruction using only an engine, the allocation unit 14 allocates the movement request to only the actuator system 30 including the powertrain actuator. In addition, for example, if it is an allocation instruction using both an engine and a brake, the allocation unit 14 appropriately allocates the movement request to the actuator system 30 including the powertrain actuator and the actuator system 40 including the brake actuator.

[0031] The above-described structure of the manager 10, the drive assist system 20, and the actuator systems 30 and 40 mounted on the vehicle is one example, and can be appropriately added, replaced, changed, omitted, or the like. In addition, the functions of each device can be appropriately unified into one device or dispersed to multiple devices.

[0032] [Control]

[0033] Further, the control performed by the manager 10 according to the present embodiment will be described with reference to Figure 2 Figure 2 is a flowchart illustrating the processing steps of the coordination control performed by the coordination section 12 of the manager 10.

[0034] If the request for the action plan from the application of the drive assist system 20 is received by the reception section 11 of the manager 10, the coordination control illustrated in Figure 2 will be started. In the present embodiment, an example in which the request for the acceleration from each application is received as the request for the action plan will be described.

[0035] (Step S201)

[0036] The coordination section 12 acquires the requested acceleration and the allocation instruction from the plurality of applications via the reception section 11. If the coordination section 12 acquires the requested acceleration and the allocation instruction of the plurality of applications, the process proceeds to step S202.

[0037] (Step S202)

[0038] The coordination section 12 determines whether the allocation instruction of the application is "engine only", which allows only the use of the actuator, i.e., the engine, affected by the lower limit of the driving force of the powertrain actuator (the lower limit of availability) in the implementation of the requested acceleration. As the allocation instruction other than "engine only", i.e., "other than engine only", examples of "brake only", "engine / brake combination", and the like can be given, the "brake only" allows only the use of the actuator, i.e., the brake, not affected (or difficult to be affected) by the lower limit of the driving force of the powertrain actuator in the implementation of the requested acceleration, and the "engine / brake combination" allows the use of both the engine and the brake. Of course, the allocation instruction can be made using other actuator than the brake, which is not affected (or difficult to be affected) by the lower limit of the driving force of the powertrain actuator.

[0039] In a case where the coordination section 12 determines that the allocation instruction of the application is "engine only" (step S202, Yes), the process proceeds to step S203. On the other hand, in a case where the coordination section 12 determines that the allocation instruction of the application is "other than engine only" (step S202, No), the process is performed for the other application which has not yet been processed. ​

[0040] (Step S203)

[0041] For the application for which the allocation instruction is "engine only", the coordination portion 12 judges whether the requested acceleration of the application exceeds a protection value. The protection value is a value set in order to suppress the influence on the coordination of the action plan for which the vehicle is requested to perform an action plan exceeding the brake driving force that the vehicle is able to achieve. In the present embodiment, as the protection value, an acceleration calculated (converted) from the lower limit of the driving force of the powertrain actuator (availability lower limit) is used.

[0042] In a case where the coordination portion 12 judges that the requested acceleration of the application exceeds the protection value (step S203, Yes), the process proceeds to step S204. On the other hand, in a case where the coordination portion 12 judges that the requested acceleration of the application does not exceed the protection value (step S203, No), the process proceeds to step S202, and the other applications for which the process has not been performed are processed.

[0043] (Step S204)

[0044] The coordination portion 12 limits the requested acceleration of the application exceeding the protection value to the protection value. That is, in a case where the requested acceleration of the application for which the allocation instruction is "engine only" exceeds the protection value, the requested acceleration from the application is replaced with the acceleration of the protection value (limited acceleration). If the coordination portion 12 limits the requested acceleration of the application to the protection value, the process proceeds to step S205.

[0045] The above-described steps S202 to S204 are performed for all the applications for which the coordination portion 12 has acquired the requested acceleration as a request of the action plan.

[0046] (Step S205)

[0047] The coordination portion 12 coordinates the plurality of requested accelerations requested from the respective applications. The plurality of requested accelerations that become the objects of the coordination include the original requested acceleration requested by the application for which the allocation instruction is "other than engine only", and the limited acceleration in which the requested acceleration requested by the application for which the allocation instruction is "engine only" is limited with the protection value. If the coordination portion 12 performs the coordination of the plurality of requested accelerations, the present coordination control ends.

[0048] [Specific Examples]

[0049] Figure 3 In the present embodiment, an example in which the coordination (Min selection) of the plurality of requested accelerations acquired from the plurality of ADAS applications is performed is specifically described. In the present embodiment, the coordination of the requested accelerations is performed by the coordination portion 12. Figure 3 In the present embodiment, an example in which the coordination (Min selection) of the plurality of requested accelerations acquired from the plurality of ADAS applications is specifically described. In the present embodiment, the coordination of the requested accelerations is performed by the coordination portion 12.

[0050] During the period of time t < tl, the request acceleration of the ADAS application A indicated by the allocation instruction "engine only" does not exceed (is not less than) the protection value. Therefore, coordination is performed between the request acceleration (original) of the ADAS application A and the request acceleration of the ADAS application B. Moreover, as a result of the coordination, the request acceleration (solid line in black) of the ADAS application A that adopts the minimum value is taken.

[0051] During the period of time tl < t < t2, since the request acceleration of the ADAS application A indicated by the allocation instruction "engine only" exceeds (becomes less than) the protection value, the request acceleration (solid line) of the ADAS application A is limited to the protection value (dotted line). Thus, coordination is performed between the protection value to which the request acceleration of the ADAS application A is limited and the request acceleration of the ADAS application B. In the example of Fig. 10, Figure 3 since the protection value is still less than the request acceleration of the ADAS application B during this period, the protection value (limited acceleration) is taken as the result of the coordination (dotted line in black).

[0052] During the period of time t > t2, since the request acceleration of the ADAS application A indicated by the allocation instruction "engine only" exceeds (is less than) the protection value, the request acceleration (solid line) of the ADAS application A is limited to the protection value (dotted line). Thus, coordination is performed between the protection value to which the request acceleration of the ADAS application A is limited and the request acceleration of the ADAS application B. However, in the example of Fig. 11, Figure 3 since the request acceleration of the ADAS application B is less than the protection value during this period, the request acceleration of the ADAS application B is taken as the result of the coordination (dotted line in black). That is, during the period in which the request of the ADAS application B should be implemented in comparison with the ADAS application A, the request acceleration of the ADAS application B is taken by the coordination regardless of the magnitude relationship of the request accelerations.

[0053] By using the limitation of the protection value described above, for example, in the case where the minimum acceleration that the vehicle can implement under the lower limit of the driving force of the powertrain actuator (availability lower limit) is calculated to be "−1 m / s 2 ", when the ADAS application A requests a request acceleration of "−3 m / s 2 " and the ADAS application B requests a request acceleration of "−2 m / s 2 ", the request of the ADAS application A is limited to the protection value "−1 m / s 2 " before the coordination processing. Thus, it is possible to avoid that the ADAS application A using "engine only" is taken by the coordination only based on the magnitude relationship of the request accelerations to generate that only "−1 m / s 2This situation.

[0054] <Effects / Advantages>

[0055] As above, in the system related to one embodiment of the present disclosure, the manager receives the action plan (request acceleration) and the information related to the actuator allowed to be used for realizing the action plan (allocation instruction) from each application of the drive assist system. Thereby, the manager can grasp the actuator system suitable for driving for realizing the request of each application.

[0056] In addition, the manager related to the present embodiment limits the request of the application requesting the action plan that cannot be realized in the current vehicle situation based on the request acceleration and the allocation instruction output from each application of the drive assist system and the drive force lower limit (availability lower limit) of the powertrain actuator before implementing the coordination. Thereby, the manager can appropriately coordinate the request of the action plan from the plurality of applications since it can implement the coordination after replacing the action plan (request acceleration) of each application with realistic content.

[0057] As above, one embodiment of the present technology has been described, but the present disclosure can be understood not only as the manager mounted on the vehicle but also as the electronic control unit, the system including the electronic control unit and the manager, the control method executed by the manager provided with the processor and the memory, the control program, the non-transitory storage medium in which the control program is stored and which is readable by the computer, or the vehicle provided with the manager, and the like.

[0058] The present disclosure is useful in the manager and the like mounted on the vehicle and the like.

Claims

1. A manager, mounted on a vehicle, comprising: A first receiving unit receives multiple action plans from multiple ADAS applications; A coordination department, responsible for coordinating the multiple action plans; a calculation unit configured to calculate a motion request based on a coordination result of the coordination unit; a distribution unit, configured to distribute the motion request to at least one actuator system; as well as The second receiving unit receives a possible lower limit of the driving force from the actuator system, in, The first receiving unit receives the action plan and information related to the actuator system to which the dispatching unit dispatches the motion request from the ADAS application. the allocating unit allocating the motion request to the actuator system based on the information, The information is information received by the first receiving unit together with the action plan adopted as a result of coordination in the coordination unit. When an action plan that exceeds a protection value based on the lower limit of the driving force is included among the plurality of action plans received by the first receiving unit from the plurality of ADAS applications, the coordination unit replaces the action plan that exceeds the protection value with the protection value to coordinate with the action plan that does not exceed the protection value.

2. The manager according to claim 1, wherein: The driving force lower limit is the lower limit value of the driving force that can be achieved by the powertrain actuator at the current speed ratio. The at least one actuator system includes a powertrain system including the powertrain actuator and a brake system including a brake actuator.

3. The manager according to claim 1 or 2, characterized in that The action plan is forward and backward acceleration.

4. A system, characterized in that: include: Multiple ADAS applications are installed in vehicles and in more than one electronic control unit; and Manager, in, The one or more electronic control units include an output unit that outputs a plurality of action plans requested by the plurality of ADAS applications to the manager. The manager has: a first receiving unit receiving the plurality of action plans from the plurality of ADAS applications; A coordination department, responsible for coordinating the multiple action plans; a calculation unit configured to calculate a motion request based on a coordination result of the coordination unit; a distribution unit that distributes the motion request to at least one actuator system; and The second receiving unit receives a possible lower limit of the driving force from the actuator system, The first receiving unit receives the action plan and information related to the actuator system to which the dispatching unit dispatches the motion request from the ADAS application. the allocating unit allocating the motion request to the actuator system based on the information, The information is information received by the first receiving unit together with the action plan adopted as a result of coordination in the coordination unit. When an action plan that exceeds a protection value based on the lower limit of the driving force is included among the plurality of action plans received by the first receiving unit from the plurality of ADAS applications, the coordination unit replaces the action plan that exceeds the protection value with the protection value to coordinate with the action plan that does not exceed the protection value.

5. A control method executed by a computer mounted on a manager of a vehicle including at least one actuator system, the control method comprising: receiving, from a plurality of ADAS applications, action plans and information related to actuator systems used to implement the action plans; Coordination of multiple action plans; calculating a motion request based on a coordination result of the coordination; and allocating the motion request to at least one of the actuator systems based on the information, The lower limit of the driving force that can be generated from the actuator system is accepted. In the allocating, the motion request is allocated to the actuator system based on the information, The information is received from the ADAS application together with the action plan adopted as a result of the coordination. In the coordination, when there is an action plan that exceeds the protection value based on the driving force lower limit among the multiple action plans accepted from the multiple ADAS applications, the action plan that exceeds the protection value is replaced with the protection value to coordinate with the action plan that does not exceed the protection value.

6. A non-transitory recording medium having a program recorded thereon and readable by a computer, wherein: The following processing is performed by causing a computer mounted on a manager of a vehicle including at least one actuator system to execute the program: receiving action plans and information related to actuator systems used to implement the action plans from a plurality of ADAS applications, Coordination of a plurality of said action plans, calculating a motion request based on a coordination result of the coordination, allocating the motion request to at least one of the actuator systems based on the information, The lower limit of the driving force that can be generated from the actuator system is accepted. In the allocating, the motion request is allocated to the actuator system based on the information, The information is received from the ADAS application together with the action plan adopted as a result of the coordination. In the coordination, when there is an action plan that exceeds the protection value based on the driving force lower limit among the multiple action plans accepted from the multiple ADAS applications, the action plan that exceeds the protection value is replaced with the protection value to coordinate with the action plan that does not exceed the protection value.

7. A vehicle, characterized in that: The device is equipped with the manager according to any one of claims 1 to 3.

8. A control device mounted on a vehicle, wherein: comprising one or more processors, wherein the one or more processors are configured as: Accept multiple action plans from multiple ADAS applications; Coordinating the multiple action plans; calculating a motion request based on a coordination result of the coordination; Distributing the motion request to at least one actuator system; and The lower limit of the driving force that can be generated from the actuator system is accepted. in, The one or more processors receive the action plan and information related to the actuator system to which the motion request is assigned from the ADAS application, In the allocating, the motion request is allocated to the actuator system based on the information, The information is received from the ADAS application together with the action plan adopted as a result of the coordination. In the coordination, when there is an action plan that exceeds the protection value based on the driving force lower limit among the multiple action plans accepted from the multiple ADAS applications, the action plan that exceeds the protection value is replaced with the protection value to coordinate with the action plan that does not exceed the protection value.

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