Motion manager, autonomous driving device, and control system

Abstract

The present disclosure relates to a motion manager, an autonomous driving device, and a control system. The motion manager of the present invention includes one or more processors. The one or more processors are configured to receive information indicating a plurality of action plans from a plurality of systems, respectively. The plurality of systems include a first system and a second system. The one or more processors are configured to receive, from the first system, request information requesting preferential selection of a first action plan set in the first system over a second action plan set in the second system. The one or more processors are configured to coordinate the plurality of action plans. The one or more processors are configured to distribute, to at least any one of a plurality of actuators, a motion request for the vehicle based on a result of the coordination.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a motion manager, an automatic driving device, and a control system. BACKGROUND

[0002] There is known a vehicle constituted by a plurality of applications that set and request an action plan relating to driving assistance of the vehicle, a motion manager that synthesizes a plurality of action plans from the plurality of applications and sets a motion requirement based on the synthesized action plan, and an actuator system that implements the set motion requirement. In the vehicle, for example, in a case where action plans requested from the plurality of applications to the motion manager are synthesized, there is a case where a request value satisfying a prescribed condition is selected from among a plurality of request values.

[0003] For example, a technique of selecting a minimum value from among a plurality of request accelerations from a plurality of applications relating to automatic driving and various driving assistance is disclosed in Japanese Patent Application Publication No. 2020-032894.

[0004] In the vehicle described above, in a case where there are a plurality of applications that set action plans, for example, in a case where one application sets an action plan for performing a series of actions of the vehicle such as automatic driving, and other systems set action plans in a scattered manner, there is a case where the execution of the action plan for performing the series of actions is hindered by the action plans set in a scattered manner. Therefore, there is a case where the series of actions of the vehicle desired by the one application cannot be implemented. SUMMARY

[0005] The present disclosure provides a motion manager that appropriately sets an action plan relating to driving assistance of a vehicle, an automatic driving device, a control system, a vehicle, a control method of a vehicle, and a non-transitory storage medium.

[0006] The motion manager according to the first aspect of the present disclosure is a motion manager that requests a motion of a vehicle to at least any one of a plurality of actuators provided to the vehicle in accordance with a plurality of action plans relating to driving assistance of the vehicle that are respectively set by a plurality of systems. The motion manager includes one or more processors configured to: accept information indicating the plurality of action plans from the plurality of systems respectively, coordinate the plurality of action plans including a first system and a second system, distribute a set motion requirement of the vehicle to at least any one of the plurality of actuators based on a result of the coordination, and accept, from the first system, request information that requests a first action plan set in the first system to be preferentially selected compared to a second action plan set in the second system.

[0007] Thus, it is possible to suppress the execution of the first action plan from being hindered by the second action plan. Therefore, it is possible to suppress interference of functions between the first system and the second system, and to control the vehicle based on the action plan set in the first system.

[0008] It can also be configured such that the request information includes information that requests invalidation of the second action plan set in the second system, on the basis of the above-described first aspect.

[0009] Thus, if the second action plan is invalidated in a case where the request information is accepted from the first system, it is possible to suppress the execution of the first action plan from being hindered by the second action plan.

[0010] It can also be configured such that the request information includes information that requests the priority of the first action plan set in the first system to be higher than the priority of the second action plan set in the second system, on the basis of the above-described first aspect.

[0011] Thus, in a case where the request information is accepted from the first system, since the priority of the first action plan is higher than that of the second action plan, it is possible to suppress the execution of the first action plan from being hindered by the second action plan.

[0012] It can also be configured such that the one or more processors are configured to coordinate the plurality of action plans in accordance with the accepted request information, on the basis of the above-described first aspect.

[0013] Thus, in a case where the request information is accepted, the plurality of action plans are coordinated by the one or more processors in accordance with the request information, and therefore it is possible to suppress the execution of the first action plan from being hindered by the second action plan.

[0014] It can also be configured such that the one or more processors are configured to output information related to the request information to the second system, on the basis of the above-described first aspect.

[0015] Thus, since information related to the request information is output to the second system, it is possible to prevent, for example, the second system from being determined to be in an abnormal state due to the second action plan not being selected by the one or more processors.

[0016] It can also be configured such that the plurality of systems further include a third system that is different from the first system and the second system, and that sets an action plan that does not prioritize the first action plan, on the basis of the above-described first aspect.

[0017] Thus, for the action plan set in the third system, since it is an action plan that does not prioritize the first action plan, it is possible to suppress the execution of the action plan for which invalidation is not requested from being hindered.

[0018] It can also be configured such that the movement manager further includes a storage unit that stores information about at least any one of the second system and the third system, on the basis of the first aspect.

[0019] In this way, information about at least any one of the second system and the third system can be stored.

[0020] It can also be configured such that the first system includes an automatic driving system, on the basis of the first aspect. It can also be configured such that the second system and the third system each include a system mounted on a vehicle.

[0021] In this way, execution of the first action plan set by the automatic driving system can be inhibited by the second action plan set by the system mounted on the vehicle.

[0022] It can also be configured such that the first system includes an automatic driving system, on the basis of the first aspect. It can also be configured such that the second system and the third system each include at least any one of a plurality of driving assistance systems.

[0023] In this way, execution of the first action plan set by the automatic driving system can be inhibited by the second action plan set by the second system as a driving assistance system.

[0024] It can also be configured such that the third system includes a system set in a manner that complies with a regulation, on the basis of the first aspect.

[0025] In this way, the first action plan can be inhibited from being prioritized over an action plan set in the third system.

[0026] It can also be configured such that the second system includes a system that assists driving of a driver of a vehicle, on the basis of the first aspect.

[0027] In this way, execution of the first action plan set by the first system can be inhibited by the second action plan set by the system that assists the action of the driver of the vehicle.

[0028] It can also be configured such that the one or more processors receive the request information from the first system at the time of automatic driving of the vehicle, and do not receive the request information from the first system at the time of manual driving of the vehicle, on the basis of the first aspect.

[0029] In this way, a behavior of the vehicle that the driver does not desire can be inhibited from occurring at the time of manual driving of the vehicle.

[0030] The automatic driving device according to the second aspect of the present disclosure is an automatic driving device configured to transmit a first action plan related to automatic driving to a motion manager configured to control behavior of a vehicle. The motion manager is configured to request a motion of the vehicle to at least any one of a plurality of actuators provided to the vehicle, based on a plurality of action plans related to driving assistance of the vehicle respectively set in a plurality of systems. The automatic driving device includes a first system configured to set the first action plan and transmit the first action plan set in the automatic driving device and request information to the motion manager. The request information is information that requests to preferentially select the first action plan compared to a second action plan. The plurality of systems include the first system and a second system configured to be mounted on the vehicle and set the second action plan.

[0031] The control system according to the third aspect of the present disclosure is a control system including a motion manager and an automatic driving system. The motion manager is configured to request a motion of a vehicle to at least any one of a plurality of actuators provided to the vehicle, based on a plurality of action plans related to driving assistance of the vehicle respectively set in a plurality of systems including the automatic driving system. The automatic driving system is configured to set a first action plan of any one of the plurality of action plans, and transmit request information that requests to preferentially select the first action plan compared to a second action plan to the motion manager. The plurality of systems include the automatic driving system and a system configured to be mounted on the vehicle and set the second action plan.

[0032] The vehicle according to the fourth aspect of the present disclosure is a vehicle provided with a motion manager and an automatic driving system. The motion manager is configured to request a motion of a vehicle to at least any one of a plurality of actuators provided to the vehicle, based on a plurality of action plans related to driving assistance of the vehicle respectively set in a plurality of systems including the automatic driving system. The automatic driving system is configured to set a first action plan of any one of the plurality of action plans, and transmit request information that requests to preferentially select the first action plan compared to a second action plan to the motion manager. The plurality of systems include the automatic driving system and a system configured to be mounted on the vehicle and set the second action plan.

[0033] The control method of the vehicle according to the fifth aspect of the present disclosure is a control method of a vehicle executed by a computer. The control method includes: respectively accepting information indicating a plurality of action plans related to driving assistance of a vehicle respectively set in a plurality of systems including a first system and a second system; coordinating the plurality of action plans; allocating a motion request to at least any one of a plurality of actuators provided to the vehicle; and accepting, from the first system, request information that requests to preferentially select a first action plan set in the first system compared to a second action plan set in the second system. The motion request is set based on a result of the coordination.

[0034] The non-transitory storage medium according to the aspect 6 of the present disclosure is a non-transitory storage medium that stores commands executed by a computer and commands that cause the computer to execute functions. The functions include steps of respectively accepting information indicating a plurality of action plans related to driving assistance of a vehicle, which are respectively set by a plurality of systems including a first system and a second system, coordinating the plurality of action plans, allocating a movement request to the vehicle to at least any one of a plurality of actuators provided to the vehicle, and accepting request information from the first system that requests to preferentially select a first action plan set in the first system compared to a second action plan set in the second system. The movement request is set based on a result of the coordination.

[0035] According to the aspects of the present disclosure, it is possible to provide a movement manager, an automatic driving device, a control system, a vehicle, a control method of a vehicle, and a non-transitory storage medium that appropriately set an action plan related to driving assistance of a vehicle.

[0036] Features, advantages, and technical and industrial significance of exemplary embodiments of the present application will be described below with reference to the accompanying drawings, wherein the same reference numerals are denoted throughout the several views BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a diagram indicating an example of a configuration of a vehicle.

[0038] Figure 2 is a diagram for explaining an example of an action of a movement manager.

[0039] Figure 3 is a diagram indicating an example of a configuration of a system group and a movement manager.

[0040] Figure 4 is a flowchart indicating an example of a process executed by an ADS.

[0041] Figure 5 is a flowchart indicating an example of a process executed by an invalidation processing section.

[0042] Figure 6 is a diagram for explaining an example of an action of a vehicle. DETAILED DESCRIPTION

[0043] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, the same or corresponding portions will be denoted by the same reference numerals in the drawings, and the description thereof will not be repeated.

[0044] Figure 1 is a diagram indicating an example of a configuration of a vehicle 1. As Figure 1As shown, the vehicle 1 includes an ADAS-ECU (Electronic Control Unit) 10, a brake ECU 20, an actuator system 30, a central ECU 40, and an ADK (Autonomous Driving Kit) 120 as an autonomous driving device.

[0045] The vehicle 1 can be, for example, a vehicle with an engine as a drive source, or an electric vehicle with an electric motor as a drive source, or a hybrid vehicle with an engine and an electric motor as drive sources.

[0046] The ADAS-ECU 10, the brake ECU 20, the central ECU 40, and the ADK 120 each include a computer having a processor that executes a program, a memory, and an input / output interface.

[0047] The ADAS-ECU 10 includes a driving assistance system 100 having functions related to driving assistance of the vehicle 1. The driving assistance system 100 is configured to realize various functions for assisting driving of the vehicle 1, including at least any one of steering control, drive control, and brake control of the vehicle 1, by executing an installed application program. As the application program installed in the driving assistance system 100, for example, there are included an application program that realizes a function of an automatic parking system, an application program that realizes a function of a front-end driving assistance system (ADAS: Advanced Driver Assist System) (hereinafter referred to as an ADAS application program), and the like.

[0048] As the ADAS application, for example, at least any one of an application including a function of realizing follow-up running (ACC (Adaptive Cruise Control) or the like) in which a distance to a preceding vehicle is kept constant while running, an application including a function of realizing ASL (Auto Speed Limiter) in which a speed limit is recognized and a speed upper limit of the host vehicle is maintained, an application including a function of realizing lane maintenance assist (LKA (Lane Keeping Assist) or LTA (Lane Tracing Assist) or the like) in which a lane in which the vehicle runs is maintained, an application including a function of realizing collision damage mitigation braking (AEB (Autonomous Emergency Braking) or PCS (Pre-Crash Safety) or the like) in which braking is automatically applied in order to mitigate damage in a collision, an application including a function of realizing lane departure warning (LDW (Lane Departure Warning) or LDA (Lane Departure Alert) or the like) in which a departure of a travel lane of the vehicle 1 is warned, and an application including a function of realizing ISA (Intelligent Speed Assistance) in which the vehicle is controlled so that the speed of the vehicle does not exceed an upper limit speed.

[0049] Each application of the drive assist system 100 outputs a request for an action plan that ensures the individual product property (function) of the application to the brake ECU 20 (more specifically, the motion manager 200) based on information on a situation around the vehicle, an assist request of the driver, and the like, which are acquired (input) from a plurality of sensors not illustrated. The plurality of sensors include, for example, a vision sensor such as a front camera, a radar, a LiDAR (Light Detection And Ranging), or a position detection device.

[0050] The front camera is disposed, for example, on the back side of a door mirror in a vehicle cabin, and is used for imaging of an image of a front of the vehicle. The radar is a distance measuring device that measures a distance to an object and a direction to the object by radiating an electric wave with a short wavelength to the object and detecting an electric wave returned from the object. The LiDAR is a distance measuring device that measures a distance by radiating laser light (infrared light or the like) in a pulse shape and measuring a time taken for the laser light to be reflected by an object and returned. The position detection device is constituted by, for example, a GPS (Global Positioning System) that detects a position of the vehicle 1 using information received from a plurality of satellites that orbit the earth.

[0051] Each application program acquires information on the situation around the vehicle unified from the detection results of one or more sensors as recognition sensor information, and acquires an assistance request of the driver via a user interface (not shown) such as a switch. Each application program can recognize other vehicles, obstacles, or people present around the vehicle, for example, by artificial intelligence (AI) on images, videos, or image processing using an image processing processor, of the surroundings of the vehicle acquired by the plurality of sensors.

[0052] In addition, the action plan includes, for example, a request related to the front / rear acceleration / deceleration generated by the vehicle 1, a request related to the steering angle of the vehicle 1, a request related to the stop maintenance of the vehicle 1, and the like.

[0053] As the request related to the front / rear acceleration / deceleration generated by the vehicle 1, for example, a request for the operation of the powertrain system 302, a request for the operation of the brake system 304 are included.

[0054] As the request related to the stop maintenance of the vehicle 1, for example, a request related to the permission and prohibition of the operation of at least one of the electric parking brake and the parking lock mechanism (both not shown) is included.

[0055] The electric parking brake restricts the rotation of the wheels of the vehicle 1 by the operation of the actuator. The electric parking brake can also be configured to operate the brake for the parking brake provided in a part of the plurality of wheels of the vehicle 1 using the actuator to thereby restrict the rotation of the wheels. Alternatively, the electric parking brake can also be configured to operate the actuator for the parking brake to adjust the hydraulic pressure supplied to the brake device of the brake system 304 to thereby operate the brake device and restrict the rotation of the wheels.

[0056] The parking lock mechanism restricts the rotation of the output shaft of the transmission by the operation of the actuator. The parking lock mechanism, for example, causes a protrusion provided at the front end of a parking lock lever adjusted in position by the actuator to be engaged with the teeth of a gear (locking gear) provided in connection with the rotating member in the transmission of the vehicle 1. Thereby, the rotation of the output shaft of the transmission is restricted, and the rotation of the wheels of the drive wheels is restricted.

[0057] Furthermore, as the application programs installed in the driving assistance system 100, the above-described application programs are not particularly limited, and other functions can be added to the application programs, or existing application programs can be omitted, and the number of installed application programs is not particularly limited.

[0058] Also, in the present embodiment, a case where the ADAS-ECU 10 includes the driving assistance system 100 constituted by a plurality of application programs is described, but for example, an ECU can be provided for each application program. For example, the driving assistance system 100 can be constituted by an ECU in which an application program that implements the function of an automatic parking system is installed, and an ECU in which an ADAS application program is installed.

[0059] The ADK 120 includes an autonomous driving system (ADS: Autonomous Driving System) 122. The ADK 120 is configured to be attached to and detached from the vehicle 1, and is configured to be capable of replacement to another ADK. The ADS 122 has an application program that implements the function of autonomous driving. The ADS 122 outputs a request for an action plan (i.e., an action plan for autonomous driving) that ensures the commodity property (function) of the application program alone, based on information on the situation around the vehicle 1 acquired from a plurality of sensors mounted on the ADK 120, and the like, to the brake ECU 20. The plurality of sensors mounted on the ADK 120 include, for example, a vision sensor such as a forward camera, a radar, a LiDAR (Light Detection And Ranging), or a position detection device. These sensors are as described above, and therefore, a detailed description thereof will not be repeated. For example, at least any one of acceleration, deceleration, steering control, and stopping of the vehicle 1 is implemented according to the situation around the vehicle 1 without the operation of the driver from the current location to a destination set in advance or a part of the interval, and thereby autonomous driving is performed. In the present embodiment, the ADS 122 is configured to be capable of acquiring information on the situation around the vehicle 1 by a sensor or an image processing device of a system separate from the driving assistance system 100.

[0060] Further, the application program that implements the function of autonomous driving can be included in the driving assistance system 100, or can be installed in an ECU different from the ADAS-ECU 10, for example.

[0061] The brake ECU 20 includes a motion manager 200. In the present embodiment, a case where the brake ECU 20 is a hardware structure including the motion manager 200 is described as an example, but the motion manager 200 can be provided as a single ECU separate from the brake ECU 20, or can be included in another ECU different from the brake ECU 20. The brake ECU 20 is configured to be capable of communicating with the ADAS-ECU 10, various ECUs included in the actuator system 30, the central ECU 40, and the ADK 120, respectively.

[0062] The motion manager 200 requests the motion of the vehicle 1 in accordance with the action plan set in at least any one of the plurality of application programs of the driving assist system 100 and the application program that implements the function of the automatic driving of the ADS 122. The detailed structure of the motion manager 200 will be described later.

[0063] The actuator system 30 is configured to implement the request of the motion of the vehicle 1 output from the motion manager 200. The actuator system 30 includes a plurality of actuators. In Figure 1 In the embodiment, the case where the actuator system 30 includes, for example, a powertrain system 302, a brake system 304, and a steering system 306 as actuators is shown as an example. Further, the number of actuators that are the request targets of the motion manager 200 is not limited to the above-described three, and can be four or more, or two or less.

[0064] The powertrain system 302 includes a powertrain device that can generate a driving force of a driving wheel of the vehicle 1, and an ECU (both not shown) that controls the operation of the powertrain device. The powertrain device includes, for example, at least any one of an internal combustion engine such as a gasoline engine, a diesel engine, and the like, a transmission including a transmission, a differential device, and the like, a motor generator that is a driving source, an electric storage device that stores electric power supplied to the motor generator, a power conversion device that converts electric power between the motor generator and the electric storage device, a power generation source such as a fuel cell, and the like. The ECU that controls the operation of the powertrain device controls the corresponding device so as to implement the request of the motion of the corresponding device in the powertrain system 302 from the motion manager 200.

[0065] The brake system 304 includes, for example, a plurality of brake devices provided to each wheel of the vehicle 1. The brake device includes, for example, a hydraulic brake such as a disc brake that generates a braking force using hydraulic pressure. Further, as the brake device, for example, a motor generator that is connected to the wheel and generates a regenerative torque can also be included. The braking operation of the vehicle 1 using the plurality of brake devices is controlled by the brake ECU 20. In the brake ECU 20, a control section (not shown) for controlling the brake system 304 is provided separately from the motion manager 200, for example.

[0066] The steering system 306 includes, for example, a steering manipulation device that can change a steering angle of a steering wheel (for example, a front wheel) of the vehicle 1, and an ECU (both not shown) that controls the operation of the steering manipulation device. The steering manipulation device includes, for example, a steering wheel that changes the steering angle according to an operation amount, and an electric power steering (EPS) that can adjust the steering angle by an actuator separately from the operation of the steering wheel. The ECU that controls the operation of the steering manipulation device controls the operation of the actuator of the EPS.

[0067] The central ECU 40 includes a memory 42 capable of updating stored content. The central ECU 40 is configured, for example, to communicate with the brake ECU 20, and is also configured to communicate with an external device (e.g., a server) of the vehicle 1 (not shown) via a communication module (not shown). When receiving update information from a server external to the vehicle 1, the central ECU 40 uses the received update information to update the information stored in the memory 42. Prescribed information is stored in the memory 42. This prescribed information includes, for example, information read from various ECUs when the vehicle 1's system is started.

[0068] In this embodiment, the central ECU 40 reads the prescribed information from various ECUs when the vehicle 1 system is started, but it may also have functions such as relaying communication between various ECUs (gateway function).

[0069] The following uses Figure 2 A detailed explanation of an example of the motion manager 200's actions is provided. Figure 2 This is a diagram used to illustrate an example of the actions of the motion manager 200.

[0070] Figure 2 The diagram shows a system group 150, including a driver assistance system 100 and an ADS 122. Additionally, in... Figure 2 In this example, the driver assistance system 100, including AEB 102, LKA 104, ACC 106, ASL 108, PCS 110, and ISA 112 as applications, is illustrated. Furthermore, in... Figure 2 The diagram illustrates an example where ADS122 includes, for instance, AD124, an application that enables autonomous driving (AD) functionality. A request signal PLN1 is sent from the system group 150, including the driving assistance system 100 and ADS122, to the motion manager 200, specifying a motion plan set in at least one of multiple applications.

[0071] The required signal PLN1 may include, for example, information about the target acceleration set as part of the action plan in ACC, AEB, ASL, PCS, ISA, or AD, or information about the target curvature set as part of the action plan in LKA or AD.

[0072] The motion manager 200 sets a motion required to the vehicle 1 based on the requirement of the action plan included in the received requirement signal PLN1, and requires the realization of the set motion to the actuator system 30. That is, the motion manager 200 transmits the requirement of the action of the power transmission system 302 as a requirement signal ACL1 to the actuator system 30. The motion manager 200 transmits the requirement of the action of the brake system 304 as a requirement signal BRK1 to the actuator system 30. Also, the motion manager 200 transmits the requirement of the action of the steering system 306 as a requirement signal STR1 to the actuator system 30.

[0073] The requirement signal ACL1 includes, for example, information on a required value of a drive torque or a drive force, information on a means of coordination (for example, whether to select a maximum value or a minimum value, whether to change in a stepwise manner, or whether to change in a gradual manner, and the like), and the like.

[0074] The requirement signal BRK1 includes, for example, information on a required value of a brake torque, information on a means of coordination (for example, whether to change in a stepwise manner or whether to change in a gradual manner, and the like), information on a timing of implementation of braking (whether to implement immediately or the like), and the like.

[0075] The requirement signal STR1 includes, for example, information on a target steering angle, information on whether the target steering angle is effective, information on upper and lower limit torques of an assist torque of an operation of a steering wheel, and the like.

[0076] Among the plurality of actuators that constitute the actuator system 30, an actuator that receives a corresponding requirement signal is controlled in such a manner as to realize the requirement of the action included in the requirement signal.

[0077] Hereinafter, an example of the structure of the motion manager 200 will be described. As shown in FIG. 2, the motion manager 200 includes an acceptance section 202, a coordination section 204, a calculation section 206, and a distribution section 208. Figure 2

[0078] The acceptance section 202 accepts the requirement of the action plan output by one or more application programs of the system group 150. Details of the action plan in the present embodiment will be described later.

[0079] ​The coordination unit 204 coordinates the requirements of the plurality of action plans accepted from the respective applications via the acceptance unit 202. As a process of this coordination, for example, selecting one action plan from the plurality of action plans based on a prescribed selection criterion can be cited. In addition, as another example of the process of coordination, setting a new action plan based on the plurality of action plans can also be cited. Furthermore, the coordination unit 204 can also add prescribed information received from the actuator system 30 to coordinate the requirements of the plurality of action plans. Also, the coordination unit 204 can determine whether to temporarily give priority to the motion of the vehicle 1 calculated based on the driver state and the vehicle state compared to the motion of the vehicle 1 corresponding to the action plan decided based on the coordination result.

[0080] The calculation unit 206 calculates a motion requirement based on the coordination result of the requirements of the action plans in the coordination unit 204 and the motion of the vehicle 1 decided based on the coordination result. This motion requirement is a physical quantity for controlling at least any one of the actuators of the actuator system 30, and includes a physical quantity different from the physical quantity of the requirement of the action plan. For example, in the case where the requirement of the action plan (1st requirement) is the front-rear acceleration, the calculation unit 206 calculates a value that converts the acceleration into the driving force, the driving torque as the motion requirement (2nd requirement).

[0081] The distribution unit 208 distributes the motion requirement calculated by the calculation unit 206 to at least one of the actuators of the actuator system 30. For example, in the case where the acceleration of the vehicle 1 is required, the distribution unit 208 distributes the motion requirement only to the powertrain system 302. Alternatively, in the case where the deceleration of the vehicle 1 is required, the distribution unit 208 appropriately distributes the motion requirement to the powertrain system 302 and the brake system 304 in order to achieve the target deceleration.

[0082] From the powertrain system 302 of the actuator system 30, information on the state of the powertrain system 302 is transmitted to the motion manager 200 as a signal ACL2. As the information on the state of the powertrain system 302, for example, information on the operation of the accelerator pedal, information on the actual driving torque or the actual driving force of the powertrain system 302, actual shift gear information, information on the upper and lower limits of the driving torque, information on the upper and lower limits of the driving force, information on the reliability of the powertrain system 302, and the like are included.

[0083] From the brake system 304 of the actuator system 30, information on the state of the brake system 304 is transmitted to the motion manager 200 as a signal BRK2. As the information on the state of the brake system 304, for example, information on the operation of the brake pedal, information on the brake torque required by the driver, information on the required value of the coordinated brake torque, information on the actual brake torque after coordination, information on the reliability of the brake system 304, and the like are included.

[0084] The motion manager 200 receives information on the state of the steering system 306 from the actuator system 30 as a signal STR2. As the information on the state of the steering system 306, for example, information on the reliability of the steering system 306, information on whether the driver is holding the steering wheel, information on the torque of the steering wheel, information on the rotation angle of the steering wheel, and the like are included.

[0085] In addition, the actuator system 30 includes a sensor group 308 in addition to the powertrain system 302, the brake system 304, and the steering system 306 described above.

[0086] The sensor group 308 includes a plurality of sensors that detect the behavior of the vehicle 1. The sensor group 308 includes, for example, a front-rear G sensor that detects the body acceleration of the vehicle 1 in the front-rear direction, a lateral G sensor that detects the body acceleration of the vehicle 1 in the lateral direction, a wheel speed sensor that is provided to each wheel and detects the wheel speed, and a yaw rate sensor that detects the rotation angle (yaw angle) of the yaw direction. The sensor group 308 transmits information including the detection results of the plurality of sensors to the motion manager 200 as a signal VSS2. That is, the signal VSS2 includes, for example, the detection value of the front-rear G sensor, the detection value of the lateral G sensor, the detection value of the wheel speed sensor of each wheel, the detection value of the yaw rate sensor, and information on the reliability of each sensor.

[0087] The motion manager 200 transmits prescribed information to the drive assist system 100 as a signal PLN2 if various signals are received from the actuator system 30.

[0088] Furthermore, the structure of the devices mounted on the vehicle 1 and the structure of the motion manager 200 described above are one example, and can be appropriately added, replaced, changed, omitted, and the like. In addition, the functions of each device can be appropriately unified in one device, dispersed in a plurality of devices, and executed.

[0089] In the vehicle 1 having the above structure, as described above, the motion manager 200 coordinates and synthesizes a plurality of action plans received from each application program of the drive assist system 100. That is, the motion manager 200 selects one action plan from among the plurality of action plans based on a prescribed selection criterion. The motion manager 200 requests the actuator system 30 to perform the motion of the vehicle 1 according to the selected action plan.

[0090] In the vehicle 1 described above, in a case where a plurality of application programs that set action plans exist, for example, in a case where a first action plan that sets a series of actions such as automatic driving by the ADS 122, and a second action plan that is set by another system exist, there is a case where the execution of the first action plan is obstructed by the second action plan. Therefore, there is a case where the desired series of actions of the vehicle 1 cannot be achieved by the ADS 122. In particular, the ADS 122 is provided separately from the drive assist system 100 mounted on the vehicle 1, and the information on the situation around the vehicle 1 is acquired by the sensors of the system separate from the various sensors mounted on the vehicle 1, and thus, the execution of the first action plan can be obstructed by the second action plan due to a difference in detection accuracy, a difference in accuracy of image analysis, or the like.

[0091] Therefore, in the present embodiment, the accepting section 202 of the motion manager 200 accepts, from the ADS 122, request information that requests a priority selection of the first action plan set in the ADS 122 over the second action plan set in the predetermined application program of the drive assist system 100. The coordinating section 204 coordinates the plurality of action plans in accordance with the accepted request information. In the present embodiment, the request information includes a request to invalidate the second action plan set in the predetermined application program of the drive assist system 100.

[0092] Thus, it is possible to suppress the obstruction of the execution of the first action plan set in the ADS 122 by the second action plan set in the other application program of the drive assist system 100. Therefore, it is possible to suppress the interference of functions between the ADS 122 and the drive assist system 100, and it is possible to control the vehicle 1 based on the action plan set in the ADS 122.

[0093] Hereinafter, the functions of the accepting section 202 and the coordinating section 204 of the motion manager 200 in the present embodiment will be described with reference to Figure 3 Figure 3 is a diagram that shows an example of the structure of the system group 150 and the motion manager 200.

[0094] As shown in Figure 3 , the system group 150 includes the AD 124 and the drive assist system 100. In Figure 3 , an example in which the drive assist system 100 includes the PCS 110 and the ISA 112 is shown. In addition, in Figure 3 , for example, a case in which the request value of the acceleration / deceleration is input from the system group 150 to the motion manager 200 as an example of the action plan is shown.

[0095] ​In this embodiment, PCS110 is configured to output to motion manager 200 an action plan, including the required values ​​for acceleration and deceleration, and identification information (hereinafter referred to as ID) of the application that can identify the source of the action plan as PCS110.

[0096] In addition, similar to ISA112, it is configured to output the motion manager 200 with the ID of ISA112, which includes the required values ​​for acceleration and deceleration, and the application that can identify the source of the output of the action plan.

[0097] Furthermore, the AD124 is configured, for example, to include, in addition to the action plan including required values ​​for acceleration and deceleration, and the application that can identify the output source of the action plan being the ID of the AD124, such as... Figure 3 As shown by the dashed arrow A, it is also possible to output either a request to invalidate an action plan from a pre-determined application (hereinafter, there may be a case described as an invalidation request) or a request to release the invalidation (hereinafter, there may be a case described as an invalidation release request) to the motion manager 200. In this embodiment, the pre-determined application includes, for example, the application of PCS110.

[0098] The receiving unit 202 of the motion manager 200 receives action plans and IDs, including various request values, from the various applications of the driver assistance system 100, and receives invalidation requests from the AD124 in addition to action plans and IDs, including request values. The various information received by the receiving unit 202 is stored, for example, in a storage device such as a memory.

[0099] Upon receiving a invalidation request from AD124, Motion Manager 200 invalidates the action plan, including the request value from PCS110, and coordinates other action plans, thereby integrating the action plans.

[0100] In this embodiment, upon receiving a invalidation request, the coordination unit 204 performs processing to invalidate the action plan from PCS110.

[0101] More specifically, the coordination unit 204 includes a invalidation processing unit 204a and an acceleration / deceleration coordination unit 204b. In the case where the invalidation request is not accepted, such as... Figure 3As shown, the invalidation processing section 204a does not invalidate the action plan (e.g., the required value of the acceleration / deceleration) input from the PCS 110 via the acceptance section 202, but outputs it to the acceleration / deceleration coordination section 204b. That is, the invalidation processing section 204a outputs the action plan from the AD 124, the action plan from the PCS 110, and the action plan from the ISA 112 to the acceleration / deceleration coordination section 204b.

[0102] On the other hand, in a case where the invalidation request is accepted, the invalidation processing section 204a invalidates the action plan input from the PCS 110 via the acceptance section 202, and does not output the action plan to the acceleration / deceleration coordination section 204b. That is, the invalidation processing section 204a outputs the action plan from the AD 124 and the action plan from the ISA 112 to the acceleration / deceleration coordination section 204b.

[0103] In addition, the invalidation processing section 204a is configured to, in a case where the invalidation request is accepted to invalidate the action plan from the PCS 110 (not output to the acceleration / deceleration coordination section 204b), output information indicating that the action plan from the PCS 110 has been invalidated (hereinafter, referred to as required abandonment information) to the PCS 110 as shown by the dotted arrow B. Figure 3

[0104] Further, the invalidation processing section 204a is configured to, in a case where the invalidation request is not accepted, not output the required abandonment information to the PCS 110 as shown by the dotted arrow A and the dotted arrow B. Figure 3

[0105] For the PCS 110, for example, in a case where the required abandonment information from the invalidation processing section 204a is input, it is suppressed that an abnormality is determined to have occurred due to the action plan not selected in the PCS 110.

[0106] The acceleration / deceleration coordination section 204b coordinates (determines) the final required value using the action plans including the required value input from the invalidation processing section 204a. Specifically, the acceleration / deceleration coordination section 204b, for example, determines the minimum value among the required values of the acceleration / deceleration input from the invalidation processing section 204a as the final required value of the acceleration / deceleration. The acceleration / deceleration coordination section 204b outputs the coordination result (the final required value of the acceleration / deceleration) to the calculation section 206.

[0107] ​​For example, in a case where the same value is input as the minimum value at different timings from among a plurality of request values, the acceleration / deceleration coordination section 204b determines the request value that is input earliest as the final request value of the acceleration / deceleration. Also, for example, in a case where the same value is input as the minimum value at the same time from among a plurality of request values, the acceleration / deceleration coordination section 204b determines the request value of the ID having a higher priority order as the final request value of the acceleration / deceleration. Further, as the coordination method of the request values, it is not limited to the method of selecting the minimum value as described above. For example, the request value corresponding to the ID having a higher priority order can be determined as the final request value.

[0108] Hereinafter, the processing performed by the ADS 122 of the ADK 120 will be described with reference to the flowchart of FIG. 10. Figure 4 The processing performed by the ADS 122 of the ADK 120 will be described with reference to the flowchart of FIG. 10. Figure 4 is a flowchart showing an example of the processing performed by the ADS 122.

[0109] In step (hereinafter, the step will be referred to as S) 100, the ADS 122 determines whether or not it is in automatic driving. For example, if the automatic driving is started by an operation performed by an occupant of the vehicle 1 or a remote operation, the ADS 122 sets the flag to an on state. Also, for example, if the automatic driving is stopped by an operation or the like, the ADS 122 sets the flag to an off state. If the flag is in the on state, the ADS 122 determines that it is in automatic driving. In a case where the ADS 122 determines that it is in automatic driving (Yes in S100), the processing moves to S102.

[0110] In S102, the ADS 122 determines whether or not invalidation has been requested. In a case where the request flag is in the on state as described later, the ADS 122 determines that invalidation has been requested. On the other hand, in a case where the request flag is in the off state, the ADS 122 determines that invalidation has not been requested. In a case where the ADS 122 determines that invalidation has been requested (Yes in S102), the processing ends. Also, in a case where the ADS 122 determines that invalidation has not been requested (No in S102), the processing moves to S104.

[0111] In S104, the ADS 122 outputs the invalidation request to the motion manager 200. As for the invalidation request, as described above, a detailed description thereof will not be repeated.

[0112] In S106, the ADS 122 sets the request flag to the on state. Thereafter, the processing ends. On the other hand, in a case where the ADS 122 determines that it is not in automatic driving (No in S100), the processing moves to S108.

[0113] In S108, the ADS 122 determines whether or not the invalidation cancellation has been requested. In the case where the request flag is in the off state, the ADS 122 determines that the invalidation cancellation has been requested. On the other hand, in the case where the request flag is in the on state, the ADS 122 determines that the invalidation cancellation has not been requested. In the case where the ADS 122 determines that the invalidation cancellation has been requested (Yes in S108), the processing ends. In the case where the ADS 122 determines that the invalidation cancellation has not been requested (No in S108), the processing moves to S110.

[0114] In S110, the ADS 122 outputs an invalidation cancellation request for cancellation of the request for invalidation of a part of the driving assistance function (i.e., the function of the PCS 110) to the motion manager 200.

[0115] In S112, the ADS 122 sets the request flag to the off state. Thereafter, the processing ends.

[0116] Next, the processing performed by the motion manager 200 (more specifically, the invalidation processing section 204a) will be described with reference to Figure 5 Figure 5 is a flowchart showing an example of the processing performed by the invalidation processing section 204a.

[0117] In S200, the invalidation processing section 204a determines whether or not there is an invalidation request. For example, in the case where an invalidation request is input from the ADS 122, the invalidation processing section 204a determines that there is an invalidation request. In the case where the invalidation processing section 204a determines that there is an invalidation request (Yes in S200), the processing moves to S202.

[0118] In S202, the invalidation processing section 204a determines whether or not the invalidation has been performed. For example, in the case where the invalidation flag indicating that a part of the driving assistance function (i.e., the function of the PCS 110) is in the invalidation state is in the on state, the invalidation processing section 204a determines that the invalidation has been performed. On the other hand, for example, in the case where the invalidation flag is in the off state, the invalidation processing section 204a determines that the invalidation has not been performed. In the case where the invalidation processing section 204a determines that the invalidation has not been performed (No in S202), the processing moves to S204.

[0119] In S204, the invalidation processing section 204a sets the invalidation flag to the on state. Thereafter, the processing moves to S212. On the other hand, in the case where the invalidation processing section 204a determines that there is no invalidation request (No in S200), the processing moves to S206.

[0120] ​In S206, the invalidation processing portion 204a determines whether there is a request for invalidation cancellation. For example, in a case where an invalidation cancellation request is input from the ADS 122, the invalidation processing portion 204a determines that there is a request for invalidation cancellation. In a case where the invalidation processing portion 204a determines that there is a request for invalidation cancellation (Yes in S206), the processing moves to S208.

[0121] In S208, the invalidation processing portion 204a determines whether invalidation has been cancelled. For example, in a case where the invalidation flag is in the off state, the invalidation processing portion 204a determines that invalidation has been cancelled. On the other hand, for example, in a case where the invalidation flag is in the on state, the invalidation processing portion 204a determines that invalidation has not been cancelled. In a case where the invalidation processing portion 204a determines that invalidation has not been cancelled (No in S208), the processing moves to S210.

[0122] In S210, the invalidation processing portion 204a sets the invalidation flag to the off state. Thereafter, the processing moves to S212. On the other hand, in a case where the invalidation processing portion 204a determines that invalidation has been cancelled (Yes in S202), or in a case where it is determined that there is no request for invalidation cancellation (No in S206), or in a case where it is determined that invalidation has been cancelled (Yes in S208), the processing moves to S212.

[0123] In S212, the invalidation processing portion 204a determines whether the invalidation flag is in the on state. In a case where the invalidation processing portion 204a determines that the invalidation flag is in the on state (Yes in S212), the processing moves to S214.

[0124] In S214, the invalidation processing portion 204a outputs, to the acceleration / deceleration coordination portion 204b, the required value for acceleration / deceleration other than the required value from the PCS 110. That is, the invalidation processing portion 204a outputs, to the acceleration / deceleration coordination portion 204b, the required value for acceleration / deceleration from the ADS 124 and the ISA 112. Further, in a case where the invalidation processing portion 204a determines that the invalidation flag is in the off state (No in S212), the processing moves to S218.

[0125] In S216, the invalidation processing portion 204a outputs, to the PCS 110, required abandonment information indicating that the action plan to be set by the PCS 110 is invalidated.

[0126] In S218, the invalidation processing portion 204a outputs, to the acceleration / deceleration coordination portion 204b, all of the required values for acceleration / deceleration including the required value from the PCS 110.

[0127] Referring to Figure 6An example of the operation of the vehicle 1 based on the above configuration and flowchart will be described. Figure 6 is a diagram for describing an example of the operation of the vehicle 1. Further, Figure 6 The configuration of the system group 150 and the motion manager 200 of Figure 3 The configuration of the system group 150 and the motion manager 200 of

[0128] For example, assume a case where the vehicle 1 is in a manual driving state in manual driving. At this time, both the request flag and the invalidation flag are in the off state.

[0129] In a case where it is determined by the ADS 122 that it is not in automatic driving (NO in S100), it is determined whether invalidation cancellation has been requested (S108). At this time, in a case where the manual driving state continues, the request flag is maintained in the off state. Thus, the determination that it is not in automatic driving (NO in S100) and the determination that invalidation cancellation has been requested (YES in S108) are repeated.

[0130] At this time, in the invalidation processing section 204a, since there is no invalidation request (NO in S200) and no invalidation cancellation request (NO in S206), if the invalidation flag is in the off state (NO in S212), all the request values are output from the invalidation processing section 204a to the acceleration / deceleration coordination section 204b (S218).

[0131] On the other hand, for example, in a case where the automatic driving of the vehicle 1 is started by the operation by the occupant, the remote operation, and the like, it is determined by the ADS 122 that it is in automatic driving (YES in S100), and it is determined whether invalidation has been requested (S102). At this time, since the request flag is in the off state, it is determined by the ADS 122 that invalidation has not been requested (NO in S102). Thus, the invalidation request is output to the motion manager 200 (S104), and the request flag is set to the on state (S106). In a case where the automatic driving continues, the request flag is maintained in the on state. Thus, the determination that it is in automatic driving (YES in S100) and the determination that invalidation has been requested (YES in S102) are repeated.

[0132] In a case where the invalidation request is input from the ADS 122, the invalidation processing section 204a determines that there is an invalidation request (YES in S200), and determines whether invalidation has been performed (S202). Since the invalidation flag is in the off state, the invalidation processing section 204a determines that invalidation has not been performed (NO in S202), and sets the invalidation flag to the on state (S204).

[0133] If the invalidation flag becomes active (yes in S212), such as Figure 6 As shown by the dashed arrow, the action plan from PCS110 is invalidated, and a request value for acceleration / deceleration other than the request value from PCS110 is output to the acceleration / deceleration coordination unit 204b (S214). Therefore, the selection of an acceleration / deceleration request value from PCS110 in the acceleration / deceleration coordination unit 204b is suppressed. Furthermore, as... Figure 6 As indicated by the thin solid arrow B, a request to abandon information will be output to PCS110 (S216). Therefore, the determination that an anomaly has occurred due to the failure to select the action plan set in PCS110 is suppressed.

[0134] Subsequently, if the automatic driving of vehicle 1 is stopped by ADS122 through operation by the occupant or remote operation, ADS122 determines that it is not in automatic driving (No in S100) and determines whether a request for invalidation release has been made (S108). At this time, since the request flag is in the on state, ADS122 determines that no request for invalidation release has been made (No in S108). Therefore, the invalidation release request is output to the motion manager 200 (S110), and the request flag is set to the off state (S112). If the automatic driving stop state (manual driving state) continues, the request flag remains in the off state. Therefore, the determination that it is not in automatic driving (No in S100) and the determination that a request for invalidation release has been made (Yes in S108) are repeated.

[0135] When an invalidation release request is input from ADS122, the invalidation processing unit 204a determines that there is no invalidation request (No in S200) and determines that there is an invalidation release request (Yes in S206). At this time, since the invalidation flag is in the on state, the invalidation processing unit 204a determines that invalidation has not been released (No in S208) and sets the invalidation flag to the off state (S210).

[0136] If the invalidation flag is turned off (no in S212), all required values ​​are output from the invalidation processing unit 204a to the acceleration / deceleration coordination unit 204b (S218).

[0137] As above, according to the motion manager 200 related to the present embodiment, in automatic driving, the action plan set in the PCS 110 is invalidated in accordance with the invalidation request, and thus it is possible to suppress the execution of the action plan set in the ADS 122 from being hindered by the action plan set in the PCS 110. Thus, it is possible to suppress interference of functions between the ADS 122 and the system that is a part of the drive assist system 100, and it is possible to control the vehicle 1 in a manner that realizes a series of actions based on the action plan set in the ADS 122. Thus, it is possible to provide a motion manager, an automatic driving device, a control system, a vehicle, a control method of a vehicle, and a program that appropriately set an action plan related to drive assist of a vehicle.

[0138] Also, for the action plan set in the ISA 112 that is a system different from the PCS 110 among the plurality of systems set in the drive assist system 100, it is not invalidated. Thus, for example, in a case where the ISA 112 is set to comply with a regulation, it is possible to suppress invalidation of the action plan set in the ISA 112.

[0139] Hereinafter, a modification will be described.

[0140] In the above-described embodiment, for the request information, it is described that it is set to include information that requests invalidation of the action plan set in the PCS 110, but the request information can be at least information that gives priority to the first action plan set in the AD 124 over the second action plan set in the PCS 110, and is not particularly limited to information that requests invalidation of the second action plan set in the PCS 110. For example, the request information can include information that indicates that the priority order of the first action plan set in the AD 124 is higher than that of the second action plan set in the PCS 110. In this way, it is possible to suppress the execution of the first action plan set in the AD 124 from being hindered by the second action plan set in the PCS 110.

[0141] Also, in the above-described embodiment, for the invalidation processing section 204a of the coordination section 204, it is described that it is set to output the request abandonment information that indicates invalidation of the action plan from the PCS 110 to the PCS 110 in automatic driving, but for example, information related to the invalidation request, such as information that indicates an invalidation request input from the AD 124, can be output to the PCS 110. By the PCS 110 being input such information, even in a state where the action plan input from the PCS 110 is invalidated by the invalidation processing section 204a and the action plan set in the PCS 110 is not selected by the coordination section 204, it is possible to prevent the PCS 110 from being determined as an abnormal state.

[0142] Also, in the above-described embodiment, it is described that the invalidation processing section 204a invalidates the action plan set in the PCS 110 and performs the description assuming that the invalidation request is output to the motion manager 200 in automatic driving by the ADS 122, but as the application program that becomes the target of invalidation in automatic driving, it is not limited to the PCS 110, and for example, it can be another application program such as the AEB 102, the ACC 106, or the ASL 108.

[0143] Also, in the above-described embodiment, it is described that the coordination section 204 includes the acceleration / deceleration coordination section 204b, but for example, it can be configured to further include a coordination section that coordinates the required values of the steering angle and the like and to take as the target of invalidation the action plan set in any one of the application programs that output the required values of the steering angle and the like. Further, as the application program that outputs the required values of the steering angle and the like and becomes the target of invalidation, for example, it includes at least any one of a plurality of application programs that set the action plan related to the steering angle, such as the LKA 104 and the LTA.

[0144] Also, in the above-described embodiment, it is described that the invalidation request is accepted in automatic driving and the action plan set in the PCS 110 is invalidated, but for example, it can be configured such that the acceptance section 202 does not accept the invalidation request from the AD 124 in the case other than automatic driving, that is, in the case of manual driving. In this case, the invalidation processing section 204a does not invalidate the action plan set in the PCS 110 and outputs it to the acceleration / deceleration coordination section 204b by not accepting the invalidation request from the acceptance section 202.

[0145] Also, in the above-described embodiment, the case where the action plan set in the predetermined application program is invalidated by the invalidation request output by the ADS 122 is described as an example, but as the application program that outputs the invalidation request, it is not particularly limited to the ADS 122, and for example, it can be configured such that the invalidation request is output by at least any one of the application programs included in the drive assist system 100, and the action plan set in at least any one of a plurality of application programs including the ADS 122 is invalidated.

[0146] Further, in the above-described embodiment, the structure in which the motion manager 200 includes the reception section 202, the coordination section 204, the calculation section 206, and the distribution section 208 is described as an example, but the motion manager 200 can have, for example, a structure in which at least a first motion manager that receives an action plan from an application program and a second motion manager that can communicate with the first motion manager and request a motion to the actuator system 30 are provided. Further, in this case, the function of the coordination section 204, the function of the calculation section 206, and the function of the distribution section 208 can be installed in any one of the first motion manager and the second motion manager.

[0147] Further, the above-described modified examples can be implemented by combining all or a part of them as appropriate.

[0148] The entire contents of the embodiments disclosed herein should be considered as illustrative and not restrictive. The scope of the present application is not limited by the above-described description, but is indicated by the claims, and is intended to include the meanings equivalent to the claims and all modifications within the scope.

Claims

1. A motion manager configured to require a motion of a vehicle to at least any of a plurality of actuators provided to the vehicle in accordance with a plurality of action plans related to a drive assist of the vehicle set respectively in a plurality of systems, characterized by comprising one or more processors configured to: accept information indicating the plurality of action plans respectively from the plurality of systems including a first system and a second system; accept, from the first system, requirement information that requires a first action plan set in the first system to be preferentially selected compared to a second action plan set in the second system; coordinate the plurality of action plans by invalidating the second action plan based on the requirement information; and allocate a requirement to the motion of the vehicle set based on a result of the coordination to at least any of the plurality of actuators, wherein the one or more processors are further configured to: output, to the second system, requirement abandonment information for suppressing a case where an abnormality is determined to occur in the second system due to the second action plan not being selected when invalidating the second action plan.

2. The motion manager according to claim 1, characterized in that the requirement information includes information that requires a priority order of the first action plan set in the first system to be higher than a priority order of the second action plan set in the second system.

3. The motion manager according to claim 1, characterized in that the plurality of systems further include a third system configured to be different from the first system and the second system and set an action plan that does not prefer the first action plan.

4. The motion manager according to claim 3, characterized by further comprising a storage configured to store information about at least any of the second system and the third system.

5. The motion manager according to claim 3, characterized in that the first system includes an automatic driving system, the second system and the third system each include a system mounted on the vehicle.

6. The motion manager according to claim 3, characterized in that the first system includes an automatic driving system, the second system and the third system each include at least any of a plurality of drive assist systems.

7. The motion manager according to claim 3, characterized in that the third system includes a system set in a manner that complies with a regulation.

8. The motion manager according to claim 1, characterized in that the second system includes a system configured to assist a drive of the vehicle.

9. The motion manager according to any one of claims 1 to 8, characterized in that the one or more processors are configured to accept the requirement information from the first system when the vehicle is in automatic driving, and are configured not to accept the requirement information from the first system when the vehicle is in manual driving. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 10. An automatic driving device configured to transmit a first action plan related to automatic driving to a motion manager configured to control behavior of a vehicle, the motion manager being configured to request a motion of the vehicle to at least any one of a plurality of actuators provided to the vehicle in accordance with a plurality of action plans related to driving assistance of the vehicle set respectively in a plurality of systems, characterized by, the automatic driving device including a first system configured as follows: setting the first action plan; and transmitting the first action plan set in the automatic driving device and request information requesting to preferentially select the first action plan compared to a second action plan to the motion manager, wherein the plurality of systems include the first system and a second system configured to be mounted on the vehicle and set the second action plan, the motion manager coordinating the plurality of action plans by invalidating the second action plan based on the request information, when invalidating the second action plan, outputting request abandonment information for suppressing a case where an abnormality is determined to occur in the second system due to the second action plan not being selected to the second system. including a motion manager and an automatic driving system, wherein the motion manager is configured to request a motion of a vehicle to at least any one of a plurality of actuators provided to the vehicle in accordance with a plurality of action plans related to driving assistance of the vehicle set respectively in a plurality of systems including the automatic driving system, the automatic driving system is configured to set a first action plan of any one of the plurality of action plans, and configured to transmit request information requesting to preferentially select the first action plan compared to a second action plan to the motion manager, 11. A control system characterized by, the plurality of systems include the automatic driving system and a system configured to be mounted on the vehicle and set the second action plan, the motion manager coordinating the plurality of action plans by invalidating the second action plan based on the request information, when invalidating the second action plan, outputting request abandonment information for suppressing a case where an abnormality is determined to occur in the system that sets the second action plan due to the second action plan not being selected to the system that sets the second action plan. ​ ​ ​

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