Control device, manager, method, non-transitory storage medium, actuator system, and vehicle

Abstract

A control device, a manager, a method, a non-transitory storage medium, an actuator system, and a vehicle are provided. The control device includes one or more processors configured to: receive a plurality of first requests from a driver assistance system; arbitrate the plurality of first requests; calculate a second request based on an arbitration result, the second request having a different physical quantity than the first request; and assign the second request to at least one of a plurality of actuator systems. When a difference between the second request based on a last arbitration result and the second request based on a current arbitration result is greater than a threshold value, the one or more processors are configured to assign a request that is a value between the second request based on the last arbitration result and the second request based on the current arbitration result.

Description

[0001] This application is a divisional application of patent application No. 202110143264.2, filed on February 2, 2021, entitled "Control Device, Manager, Method, Non-transitory Storage Medium, Actuator System and Vehicle". Technical Field

[0002] This disclosure relates to vehicles, control devices, managers, methods, non-transitory storage media, and actuator systems for controlling vehicle movement. Background Technology

[0003] It is known that vehicles arbitrate multiple control commands generated within the vehicle for vehicle movement and control the operation of actuators based on the arbitration result. Japanese Unexamined Patent Application Publication No. 2017-030472 (JP 2017-030472 A) discloses a device that receives control commands for collision avoidance assistance and lane keeping assistance via an arbitration control unit, and arbitrates multiple control commands via the arbitration control unit. Summary of the Invention

[0004] When multiple control commands are received from multiple applications simultaneously, the appropriate control command is determined according to predetermined arbitration rules. However, when there is a significant difference between the requested value of the new control command adopted in this arbitration and the requested value of the command based on the current control command adopted in the previous arbitration, a significant change in vehicle behavior that may cause discomfort to the driver may occur when the current control command is switched to and the new control command is executed.

[0005] This disclosure provides a control device, manager, method, non-transitory storage medium, actuator system, and vehicle that can suppress significant changes in vehicle behavior when switching from a current control command to a new control command and executing the new control command.

[0006] A control device installed in a vehicle according to one aspect of this disclosure includes one or more processors configured to: receive a plurality of first requests from a driver assistance system; arbitrate the plurality of first requests; calculate a second request based on the arbitration result, the second request having a physical quantity different from the first requests; and assign the second request to at least one of a plurality of actuator systems. The processors are configured to assign a request when the difference between the second request based on the previous arbitration result and the second request based on the current arbitration result is greater than a threshold value, the request being a value between the second request based on the previous arbitration result and the second request based on the current arbitration result.

[0007] According to another aspect of this disclosure, a vehicle-mounted manager includes one or more processors configured to: receive multiple action plans from multiple ADAS applications; arbitrate the multiple action plans; calculate a motion request based on the arbitration result; and allocate the motion request to at least one of multiple actuator systems. The processors are configured to allocate a request when the difference between the motion request based on the previous arbitration result and the motion request based on the current arbitration result is greater than a threshold value, the request being a value between the motion request based on the previous arbitration result and the motion request based on the current arbitration result. According to another aspect of this disclosure, a vehicle on which the manager is mounted is provided.

[0008] According to another aspect of this disclosure, a vehicle-mounted manager includes one or more processors configured to: receive a plurality of first requests from a plurality of ADAS applications; arbitrate the plurality of first requests; calculate a second request based on the arbitration result, the second request having a physical quantity different from the first request; and assign the second request to at least one of a plurality of actuator systems. The processors are configured to assign a request when the difference between the second request based on the previous arbitration result and the second request based on the current arbitration result is greater than a threshold value, the request being a value between the second request based on the previous arbitration result and the second request based on the current arbitration result.

[0009] According to another aspect of this disclosure, a method is provided performed by a computer of a manager installed in a vehicle. The method includes: receiving a plurality of action plans from a plurality of ADAS applications; arbitrating the plurality of action plans; calculating a motion request based on an arbitration result; and assigning the motion request to at least one of a plurality of actuator systems, wherein a request is assigned when the difference between the motion request based on a previous arbitration result and the motion request based on a current arbitration result is greater than a threshold value, the request being a value between the motion request based on the previous arbitration result and the motion request based on the current arbitration result.

[0010] Another aspect of this disclosure provides a non-transitory storage medium storing instructions executable by a computer of a manager installed in a vehicle, causing the manager's computer to perform functions including: receiving multiple action plans from multiple ADAS applications; arbitrating the multiple action plans; calculating a motion request based on the arbitration result; and allocating the motion request to at least one of multiple actuator systems, wherein a request is allocated when the difference between the motion request based on the previous arbitration result and the motion request based on the current arbitration result is greater than a threshold, the request being a value between the motion request based on the previous arbitration result and the motion request based on the current arbitration result.

[0011] An actuator system mounted on a vehicle according to another aspect of this disclosure includes a communication device configured to receive a request from a manager when the difference between a motion request based on a previous arbitration result and a motion request based on a current arbitration result is greater than a threshold. The request is a value between the motion request based on the previous arbitration result and the motion request based on the current arbitration result. The manager includes one or more processors configured to receive multiple action plans from multiple ADAS applications, arbitrate the multiple action plans, calculate a motion request based on the arbitration result, and allocate the motion request.

[0012] According to another aspect of this disclosure, a vehicle control device includes one or more processors. The processors are configured to arbitrate among multiple control commands acquired from multiple driver assistance applications, each implementing driver assistance functions. The processors are configured to output instructions for an electronic control unit (ECU) based on the control commands generated by the arbitration, the ECU being configured to control actuators mounted on the vehicle. The processors are configured to output an instruction to the ECU requesting a requested value derived from the protection value, as the instruction based on the control commands generated by the arbitration, when the absolute value of the difference between a requested value requested by the instruction based on the last used current control command of the arbitration and a requested value requested by the new control command of the current arbitration is equal to or greater than a protection value representing an allowable upper limit for the absolute value of the change in the requested value.

[0013] Another aspect of this disclosure is a method for controlling a vehicle. The method includes: arbitrating among multiple control commands acquired by one or more processors from multiple driver assistance applications that respectively implement driver assistance functions; calculating, by the processors, the absolute value of the difference between a requested value requested by an instruction based on a current control command previously used in the arbitration and a requested value requested by a new control command currently used in the arbitration; and outputting, as an instruction based on the control command generated by the arbitration, an instruction requesting a requested value derived from the protection value to an electronic control unit configured to control actuators installed on the vehicle when the absolute value of the difference between the requested values ​​is equal to or greater than a protection value representing an allowable upper limit of the absolute value of the change in the requested value.

[0014] Another aspect of this disclosure is a non-transitory storage medium storing instructions executable by one or more processors included in a vehicle control device and causing the one or more processors to perform functions. These functions include: arbitrating among multiple control commands acquired from multiple driver assistance applications that respectively implement driver assistance functions; calculating the absolute value of the difference between a requested value requested by an instruction based on the current control command previously used in the arbitration and a requested value requested by a new control command currently used in the arbitration; and when the absolute value of the difference between the requested values ​​is equal to or greater than a protection value representing an allowable upper limit of the absolute value of the change in the requested value, outputting an instruction requesting a requested value derived from the protection value to an electronic control unit configured to control actuators mounted on the vehicle, as an instruction based on the control command generated by the arbitration.

[0015] According to the control device, manager, method, non-transitory storage medium, actuator system, and vehicle disclosed herein, when a request from a driver assistance application equal to or greater than a protection value exists, an instruction is generated to request a value derived from the protection value. This suppresses significant changes in vehicle behavior when the current control command is switched to a new control command and the new control command is executed. Attached Figure Description

[0016] The features, advantages, and technical and industrial significance of exemplary embodiments of the present disclosure will now be described with reference to the accompanying drawings, in which similar symbols denote similar elements, wherein:

[0017] Figure 1 This is a functional block diagram of a vehicle control device and its peripheral units according to an embodiment; and

[0018] Figure 2 This is a flowchart of the processes performed by the vehicle control unit. Detailed Implementation

[0019] Example

[0020] The vehicle control device disclosed herein arbitrates multiple control commands received from multiple driver assistance applications. When there is a significant difference between the requested value requested by a new control command adopted in the current arbitration and the requested value requested by an instruction based on the current control command adopted in the previous arbitration, the vehicle control device uses a protection value—a positive value representing the upper limit of the absolute value of the change in the requested value—to generate an instruction based on the control command generated by the arbitration. This protection value is a positive value representing the upper limit of the absolute value of the change in the requested value. This suppresses significant changes in vehicle behavior that would cause discomfort to the driver.

[0021] Embodiments of this disclosure will be described in detail with reference to the accompanying drawings.

[0022] Configuration

[0023] Figure 1 This is a functional block diagram of a vehicle control device 20 and its peripheral units according to embodiments of the present disclosure. Figure 1 The illustrated functional block includes multiple control request units 11 to 13, a vehicle control unit 20, a powertrain control unit 31, a brake control unit 32, a steering control unit 33, and actuators 41 to 43. These configurations are connected via an in-vehicle network, such as a controller area network (CAN) or Ethernet (registered trademark), so that they can communicate with each other. Figure 1 The arrows in the diagram schematically illustrate the flow of information, while the actual communication lines are unrestricted.

[0024] Each of the control request units 11 to 13 is a configuration (driver assistance system) that executes a driver assistance application to request actuators 41 to 43 to implement driver assistance functions for the vehicle, such as automatic driving and automatic parking, adaptive cruise control, lane keeping assist, or collision mitigation braking. The control request units 11 to 13 are implemented by a computer, such as an electronic control unit (ECU), which has a processor such as a CPU and memory. The control request units 11 to 13 perform different driver assistance functions and can operate simultaneously. The number of control request units installed in the vehicle is not limited to this. Figure 1 The three shown can also be two or fewer, or four or more. Driver assistance devices (control request units 11 to 13) are examples of driver assistance systems or ADAS applications.

[0025] Control request units 11 to 13 output control commands to request operation of actuators 41 to 43 installed on the vehicle. Each of the control request units 11 to 13 determines part or all of the control content related to vehicle movement such as "driving", "turning" and "stopping" based on its driver assistance function, and outputs the determined control content as a control command.

[0026] Control commands are, for example, requests for movement in the vehicle's travel direction for "driving" or "stopping," and requests for movement in the vehicle's lateral direction for "turning," etc. The requested movement in the travel direction is specifically represented by, for example, the vehicle's acceleration in the travel direction, as the desired controlled variable. The requested movement in the lateral direction is specifically represented by, for example, the steering angle of the steering wheel, as the desired controlled variable.

[0027] Control commands may include protection values ​​(positive values). A protection value is a permissible upper limit representing the absolute value of any change in the requested value. The protection value is determined corresponding to the requested value. For example, it may be determined based on the amount of change in the requested value for movement in the driving direction that will not cause significant changes in vehicle behavior that would make the driver uncomfortable, and the amount of change in the requested value for movement in the lateral direction. Protection values ​​can be fixed or variable. Protection values ​​can be variable values ​​that are adjusted based on the vehicle's state (such as speed or acceleration). For example, when speed or acceleration is relatively low, the protection value can be adjusted to a higher value to reduce the restriction on changes in vehicle behavior. When speed or acceleration is relatively high, the protection value can be adjusted to a lower value to strengthen the restriction on changes in vehicle behavior.

[0028] Vehicle control unit 20 determines control content related to vehicle motion (such as "driving", "turning", and "stopping") based on control commands from control request units 11 to 13. Based on the determined control content, vehicle control unit 20 sends necessary instructions to powertrain control unit 31, brake control unit 32, and steering control unit 33 (and a shift control unit for controlling shift positions, not shown). Vehicle control unit 20 thus acts as a motion manager for properly controlling actuators 41 to 43 associated with vehicle motion, or as part of a motion manager for controlling vehicle motion. Vehicle control unit 20 may be a device specifically for controlling lateral movement of the vehicle. Lateral movement of the vehicle is typically achieved by controlling the steering system. Movement in the driving direction of the vehicle is achieved by individually or in combination by controlling the braking system to generate braking force and the powertrain to generate driving or braking force. Vehicle control unit 20 includes arbitration unit 21, protection processing unit 25, and multiple command output units 22 to 24. Vehicle control unit 20 is implemented by processors, memory, etc. Vehicle control unit 20 may include multiple ECUs, multiple processors, and multiple memories. Vehicle control unit 20 is an example of a control device or manager.

[0029] Arbitration unit 21 acquires control commands from control request units 11 to 13 and arbitrates among the acquired control commands. A control command is an example of a first request or action plan. An action plan can be a vehicle motion or behavior plan, including at least one of longitudinal acceleration / deceleration, curvature, steering angle, and yaw rate. As part of the arbitration process, for example, arbitration unit 21 selects one of the acquired control commands based on predetermined selection criteria, or sets a new control command based on the acquired control command. The new control command is an example of a second request, which has a different physical quantity than the first request. Furthermore, the new control command is an example of a motion request. The arbitration result can be fed back from arbitration unit 21 to each of control request units 11 to 13. Arbitration unit 21 can perform arbitration based on information from powertrain control unit 31, brake control unit 32, and steering control unit 33 (described later), which indicates the operating state or availability of actuators 41 to 43. The availability of actuators 41 to 43 is the current available performance range of actuators 41 to 43. The control commands generated by the arbitration of the arbitration unit 21 are output to the protection processing unit 25. Each pair of the power system control unit 31 and actuator 41, the brake control unit 32 and actuator 42, and the steering control unit 33 and actuator 43 is an example of an actuator system.

[0030] Based on the control commands (request value, protection value) generated by the arbitration unit 21 and also based on the vehicle's state, the protection processing unit 25 determines a final request value for instructing one or more of the powertrain control unit 31, brake control unit 32, and steering control unit 33 to perform controls related to vehicle movement requested by the driver assistance application. The determination of this request value is subject to limitations based on the protection value corresponding to the request value (protection processing). How the request value is determined will be described later. The protection processing unit 25 outputs the determined request value to the command output units 22 to 24.

[0031] In the example above, arbitration unit 21 acquires both the protection value and the request value as control commands from control request units 11 to 13. Alternatively, arbitration unit 21 may acquire only the request value as a control command from control request units 11 to 13, and protection processing unit 25 may generate a protection value (fixed or variable) corresponding to the request value based on the request value generated by arbitration by arbitration unit 21 and the vehicle's state (speed, acceleration, etc.).

[0032] The command output unit 22 generates a command based on the request value determined by the protection processing unit 25, which instructs the actuator 41 included in the power system to generate driving or braking force. The command output unit 22 outputs the generated command to the power system control unit 31.

[0033] The command output unit 23 generates a command based on the request value determined by the protection processing unit 25, which instructs the actuator 42 included in the braking system to generate braking force. The command output unit 23 outputs the generated command to the brake control unit 32.

[0034] The command output unit 24 generates a command based on the request value determined by the protection processing unit 25, which instructs the actuator 43 included in the electric power steering (EPS) system to generate a steering angle. The command output unit 24 outputs the generated command to the steering control unit 33.

[0035] like Figure 1 As shown, an instruction unit 26 includes a protection processing unit 25, an instruction output unit 22, an instruction output unit 23, and an instruction output unit 24. That is, for example, a function block performs all the processing of determining a request value based on a control command and generating an instruction based on the request value.

[0036] The powertrain control unit 31 controls the operation of the actuators 41 included in the powertrain to generate the driving force indicated by the command output unit 22. Actuator 41 is one of the drive actuators. Depending on the powertrain configuration, the powertrain control unit 31 may be implemented by any one or any combination of an engine control ECU, a hybrid power control ECU, a transmission ECU, etc. Although Figure 1 The diagram illustrates a configuration where the powertrain control unit 31 controls one actuator 41; however, the powertrain control unit 31 may control two or more actuators depending on the configuration of the vehicle's powertrain. Examples of actuators 41 included in the powertrain include an engine, traction motor, clutch, transmission, and torque converter. The powertrain control unit 31 acquires information about the operating state of the actuator 41 based on output signals from the actuator 41 or measurements from sensors. Examples of information about the operating state of the actuator 41 include information indicating the availability of the actuator 41 and information indicating monitored values ​​of the driving force achieved by the actuator 41. The command output unit 22 acquires the information about the operating state of the actuator 41 acquired by the powertrain control unit 31.

[0037] The brake control unit 32 controls the operation of actuators 42 of the braking system installed on each wheel to generate the braking force indicated by the command output unit 23. Actuator 42 is one of the brake actuators. This brake actuator includes hydraulic brakes and regenerative brakes from in-wheel motors (IWMs), etc. The brake control unit 32 is implemented, for example, by a brake control ECU. The brake control unit 32 receives the output values ​​of wheel speed sensors installed on each wheel. The brake control unit 32 acquires information about the operating state of actuator 42 based on the output signals from actuator 42 or the measured values ​​from the sensors. Examples of information about the operating state of actuator 42 include information indicating the availability of actuator 42, information indicating the monitored value of the braking force achieved by actuator 42, and actuator-specific information indicating whether the brake pad temperature is transitioning towards overheating. The command output unit 23 acquires the information about the operating state of actuator 42 acquired by the brake control unit 32.

[0038] The steering control unit 33 controls the actuator 43 included in the EPS system to control the steering angle of the steering wheel. Actuator 43 is one of the steering actuators. The steering control unit 33 is implemented by, for example, a power steering control ECU. The steering control unit 33 acquires information about the operating state of actuator 43 based on output signals from actuator 43 or measurements from sensors. Examples of information about the operating state of actuator 43 include information indicating the availability of actuator 43 and information indicating the monitored value of the steering angle achieved by actuator 43. The command output unit 24 acquires the information about the operating state of actuator 43 acquired by the steering control unit 33.

[0039] control

[0040] Further reference Figure 2 The control performed by the vehicle control device 20 according to this embodiment is described. Figure 2 This is a flowchart illustrating the control performed by the vehicle control unit 20. For example, Figure 2 The control process shown can be executed within a predetermined period. As described above, the vehicle control unit 20 can generate a protection value instead of obtaining a protection value from the control request units 11 to 13. However, in the example described below, the vehicle control unit 20 obtains a request value and a corresponding protection value from the control request units 11 to 13.

[0041] Step S201: The arbitration unit 21 of the vehicle control device 20 acquires the request value and the corresponding protection value of the control command output from the control request units 11 to 13, and arbitrates among the acquired control commands. For control commands related to motion control in the lateral direction, the arbitration unit 21 acquires the steering angle as the request value and the upper limit of the absolute value of the change in the steering angle as the protection value. For control commands related to motion control in the driving direction, the arbitration unit 21 acquires acceleration or deceleration as the request value and the upper limit of the absolute value of the change in acceleration or deceleration as the protection value. If the arbitration unit 21 acquires only one control command from the control request units 11 to 13 within a certain waiting time, the arbitration unit 21 uses that control command as the control command generated by arbitration. When the arbitration unit 21 completes arbitration, the routine proceeds to step S202.

[0042] Step S202: The protection processing unit 25 of the vehicle control device 20 calculates the difference (=R2-R1) between the first requested value R1 and the second requested value R2. The first requested value R1 is the requested value requested by the arbitration unit 21 based on the instruction of the previously used control command (current control command), while the second requested value R2 is the requested value requested by the arbitration unit 21 based on the current control command (new control command). Through this calculation, the protection processing unit 25 can obtain the amount by which the requested value will change when the current control command is directly switched to the new control command. When the protection processing unit 25 completes the calculation of the difference between the first and second requested values ​​R1 and R2, the routine proceeds to step S203.

[0043] Step S203: The protection processing unit 25 of the vehicle control device 20 determines whether the absolute value of the difference between the first and second request values ​​R1 and R2 (=|R2-R1|) is equal to or greater than the protection value G of the second request value R2 requested by the new control command. Therefore, the protection processing unit 25 can determine whether a change greater than the change defined by the protection value G will occur in the vehicle behavior when the current control command is directly switched to the new control command. When the absolute value of the difference between the first and second request values ​​R1 and R2 is equal to or greater than the protection value G ("Yes" in step S203), the routine proceeds to step S204. When the absolute value of the difference between the first and second request values ​​R1 and R2 is less than the protection value G ("No" in step S203), the routine proceeds to step S207.

[0044] Step S204: The protection processing unit 25 of the vehicle control device 20 determines whether the difference between the first and second request values ​​R1 and R2 is positive. That is, the protection processing unit 25 determines whether the second request value R2 is greater than the first request value R1. Thus, the protection processing unit 25 can determine the direction of the protection request value. When the difference between the first and second request values ​​R1 and R2 is positive (the second request value R2 is greater than the first request value R1) ("Yes" in step S204), the routine proceeds to step S205. When the difference between the first and second request values ​​R1 and R2 is negative (the second request value R2 is not greater than the first request value R1) ("No" in step S204), the routine proceeds to step S206.

[0045] Step S205: The protection processing unit 25 of the vehicle control device 20 calculates the sum of the first requested value R1 requested by the instruction based on the current control command and the protection value G requested by the new control command (calculate (R1+G)), and determines the calculated sum as the final requested value. When the protection processing unit 25 completes the determination of the final requested value, the routine proceeds to step S208.

[0046] Step S206: The protection processing unit 25 of the vehicle control device 20 subtracts the protection value G requested by the new control command from the first request value R1 requested by the instruction based on the current control command (calculating (R1-G)), and determines the calculated difference as the final request value. When the protection processing unit 25 completes the determination of the final request value, the routine proceeds to step S208.

[0047] Step S207: The protection processing unit 25 of the vehicle control device 20 determines the second request value R2 from the new control command request as the final request value. When the protection processing unit 25 completes the determination of the final request value, the routine proceeds to step S208.

[0048] Each time a requested value is determined, the requested value determined in steps S205 to S207 is stored in the memory of the vehicle control device 20, etc., and is used as the first requested value R1 requested by the instruction based on the current control command when calculating the absolute value of the difference between the first and second requested values ​​R1 and R2 in the next step S202.

[0049] Step S208: The command output units 22 to 24 of the vehicle control unit 20 generate commands based on the request values ​​determined by the protection processing unit 25, and output the generated commands as commands based on control commands generated by arbitration to at least one of the powertrain control unit 31, brake control unit 32, and steering control unit 33. If the command concerns steering angle control, command output unit 24 outputs the command to steering control unit 33. If the command concerns acceleration or deceleration control, one or both of command output units 22 and 23 output the command to one or both of powertrain control unit 31 and brake control unit 32. This process then ends.

[0050] Functions and effects

[0051] As described above, the vehicle control device according to embodiments of the present disclosure arbitrates among multiple control commands received from multiple driver assistance applications, and then generates instructions based on the control commands generated by the arbitration, according to the request value derived from a protection value (positive value) representing an allowable upper limit of the absolute value of the change in the request value.

[0052] Even if there is a significant difference between the requested value requested by the new control command adopted in this arbitration and the requested value requested by the instruction based on the current control command adopted in the previous arbitration, the above control can still suppress significant changes in vehicle behavior that would cause discomfort to the driver when the current control command is switched to the new control command and the new control command is executed.

[0053] Although an embodiment of the technology disclosed herein has been described above, this disclosure can be considered as a vehicle control device, a control method executed by a vehicle control device (including a processor and a memory), a control program for executing the control method, a computer-readable non-transitory storage medium storing the control program, a system including a vehicle control device, an application execution unit, an actuator control unit and an actuator, or a vehicle equipped with such a system.

[0054] This disclosure is applicable to devices for controlling the movement of vehicles.

Claims

1. A control device installed on a vehicle, characterized in that it includes one or more processors, said one or more processors being configured to: Receive multiple first requests from the driver assistance system; The arbitration presented several first claims; The second claim is calculated based on the arbitration result, and the second claim has a different physical quantity from the first claim; as well as The second request is assigned to at least one of the plurality of actuator systems. When the difference between the second request based on the previous arbitration result and the second request based on the current arbitration result is greater than a threshold, a request is assigned, the request being the value between the second request based on the previous arbitration result and the second request based on the current arbitration result; Wherein, the one or more processors are configured as follows: When the absolute value of the difference between the first request value and the second request value is less than the protection value corresponding to the second request value, the second request value is determined as the request value of the allocated request; wherein, the first request value is the request value requested by the second request based on the previous arbitration result, and the second request value is the request value requested by the second request based on the current arbitration result, and the protection value represents the allowable upper limit of the absolute value of the change in the request value; and When the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is greater than the first request value, the sum of the first request value and the protection value is determined as the request value of the allocated request; when the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is not greater than the first request value, the first request value minus the protection value is determined as the request value of the allocated request.

2. A manager installed on a vehicle, characterized in that it includes one or more processors, said one or more processors being configured to: Receive multiple action plans from multiple ADAS applications; The arbitration outlines multiple action plans; The motion request is calculated based on the arbitration result; as well as The motion request is assigned to at least one of the multiple actuator systems. When the difference between the motion request based on the previous arbitration result and the motion request based on the current arbitration result is greater than a threshold, a request is assigned, the request being the value between the motion request based on the previous arbitration result and the motion request based on the current arbitration result; Wherein, the one or more processors are configured as follows: When the absolute value of the difference between the first request value and the second request value is less than the protection value corresponding to the second request value, the second request value is determined as the request value of the allocated request; wherein, the first request value is the request value requested by the motion request based on the previous arbitration result, and the second request value is the request value requested by the motion request based on the current arbitration result, and the protection value represents the allowable upper limit of the absolute value of the change in the request value; and When the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is greater than the first request value, the sum of the first request value and the protection value is determined as the request value of the allocated request; when the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is not greater than the first request value, the first request value minus the protection value is determined as the request value of the allocated request.

3. A manager installed on a vehicle, characterized in that it includes one or more processors, said one or more processors being configured to: Receive multiple first requests from multiple ADAS applications; The arbitration presented several first claims; The second claim is calculated based on the arbitration result, and the second claim has a different physical quantity from the first claim; as well as The second request is assigned to at least one of the plurality of actuator systems. When the difference between the second request based on the previous arbitration result and the second request based on the current arbitration result is greater than a threshold, a request is assigned, the request being the value between the second request based on the previous arbitration result and the second request based on the current arbitration result; Wherein, the one or more processors are configured as follows: When the absolute value of the difference between the first request value and the second request value is less than the protection value corresponding to the second request value, the second request value is determined as the request value of the allocated request; wherein, the first request value is the request value requested by the second request based on the previous arbitration result, and the second request value is the request value requested by the second request based on the current arbitration result, and the protection value represents the allowable upper limit of the absolute value of the change in the request value; and When the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is greater than the first request value, the sum of the first request value and the protection value is determined as the request value of the allocated request; when the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is not greater than the first request value, the first request value minus the protection value is determined as the request value of the allocated request.

4. A method executed by a computer in a manager installed in a vehicle, the method being characterized by comprising: Receive multiple action plans from multiple ADAS applications; The arbitration outlines multiple action plans; The motion request is calculated based on the arbitration result; as well as The motion request is assigned to at least one of the multiple actuator systems, and Wherein, when the difference between the motion request based on the previous arbitration result and the motion request based on the current arbitration result is greater than a threshold, a request is allocated, the request being the value between the motion request based on the previous arbitration result and the motion request based on the current arbitration result; The method further includes: When the absolute value of the difference between the first request value and the second request value is less than the protection value corresponding to the second request value, the second request value is determined as the request value of the allocated request; wherein, the first request value is the request value requested by the motion request based on the previous arbitration result, and the second request value is the request value requested by the motion request based on the current arbitration result, and the protection value represents the allowable upper limit of the absolute value of the change in the request value; and When the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is greater than the first request value, the sum of the first request value and the protection value is determined as the request value of the allocated request; when the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is not greater than the first request value, the first request value minus the protection value is determined as the request value of the allocated request.

5. A non-transitory storage medium storing instructions, said instructions executable by a computer of a manager installed in a vehicle, causing said computer of the manager to perform functions, said functions being characterized by comprising: Receive multiple action plans from multiple ADAS applications; The arbitration outlines multiple action plans; The motion request is calculated based on the arbitration result; as well as The motion request is assigned to at least one of the multiple actuator systems. Wherein, when the difference between the motion request based on the previous arbitration result and the motion request based on the current arbitration result is greater than a threshold, a request is allocated, the request being the value between the motion request based on the previous arbitration result and the motion request based on the current arbitration result; The functions also include: When the absolute value of the difference between the first request value and the second request value is less than the protection value corresponding to the second request value, the second request value is determined as the request value of the allocated request; wherein, the first request value is the request value requested by the motion request based on the previous arbitration result, and the second request value is the request value requested by the motion request based on the current arbitration result, and the protection value represents the allowable upper limit of the absolute value of the change in the request value; and When the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is greater than the first request value, the sum of the first request value and the protection value is determined as the request value of the allocated request; when the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is not greater than the first request value, the first request value minus the protection value is determined as the request value of the allocated request.

6. An actuator system mounted on a vehicle, the actuator system being characterized by comprising: A communication device is configured to receive a request from a manager when the difference between a motion request based on the previous arbitration result and a motion request based on the current arbitration result is greater than a threshold. The request is a value between the motion request based on the previous arbitration result and the motion request based on the current arbitration result. in, The manager includes one or more processors configured to receive multiple action plans from multiple ADAS applications, arbitrate the multiple action plans, calculate motion requests based on the arbitration results, and allocate the motion requests. Wherein, the one or more processors are configured as follows: When the absolute value of the difference between the first request value and the second request value is less than the protection value corresponding to the second request value, the second request value is determined as the request value of the received request; wherein, the first request value is the request value requested by the motion request based on the previous arbitration result, and the second request value is the request value requested by the motion request based on the current arbitration result, and the protection value represents the allowable upper limit of the absolute value of the change in the request value; and When the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is greater than the first request value, the sum of the first request value and the protection value is determined as the request value of the received request; when the absolute value of the difference between the first request value and the second request value is equal to or greater than the protection value, and the second request value is not greater than the first request value, the first request value minus the protection value is determined as the request value of the received request.

7. A vehicle having a manager installed according to claim 2.

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