Motion manager and system

Abstract

To set kinetic plans concerning operation support of a vehicle adequately.SOLUTION: A motion manager 200 comprises: a reception unit 202 configured to receive respective pieces of information indicating a plurality of kinetic plans from a plurality of systems; an arbitration unit 204 configured to arbitrate the plurality of kinetic plans; and a distribution unit configured to distribute motion request with respect to a vehicle which is set on the basis of arbitration result by the arbitration unit 204 to at least one of a plurality of actuators. The plurality of systems contain ADS 122 and PCS 110. The reception unit 204 receives nullification request which requests to select by prioritizing a first kinetic plan that is set in the ADS 122 over a second kinetic plan that is set in PCS 110 from the ADS 122.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to controlling a motion manager that arbitrates action plans received from multiple applications related to driving assistance for a vehicle. [Background technology]

[0002] A vehicle is known that includes a plurality of applications that set and request action plans related to driving assistance for the vehicle, a motion manager that consolidates the plurality of action plans from the plurality of applications and sets motion requests based on the consolidated action plan, and an actuator system that realizes the set motion requests. In this vehicle, for example, when the action plans requested by each of the plurality of applications to the motion manager are consolidated, a request value that satisfies a predetermined condition may be selected from a plurality of request values.

[0003] For example, Japanese Patent Application Laid-Open Publication No. 2020-032894 (Patent Document 1) discloses a technology for selecting the minimum value of multiple required accelerations from multiple applications related to autonomous driving and various driving assistance. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-032894 Summary of the Invention [Problem to be solved by the invention]

[0005] In the above-described vehicle, when there are multiple applications that set action plans, for example, if one application sets an action plan for a series of vehicle operations such as autonomous driving, and another system sets action plans sporadically, the execution of the action plan for a series of operations may be hindered by the sporadically set action plan, and as a result, the series of vehicle operations intended by one application may not be realized.

[0006] The present disclosure has been made to solve the above-mentioned problems, and its purpose is to provide an exercise manager, an automatic driving device, a control system, a vehicle, a vehicle control method, and a program that appropriately set an action plan for vehicle driving assistance. [Means for solving the problem]

[0007] According to one aspect of the present disclosure, an exercise manager requests at least one of a plurality of actuators provided in a vehicle to exercise the vehicle in accordance with a plurality of action plans related to driving assistance for the vehicle, which are set in each of a plurality of systems. The exercise manager includes a reception unit that receives information indicating the plurality of action plans from each of the plurality of systems, an arbitration unit that arbitrates the plurality of action plans, and a distribution unit that distributes an exercise request for the vehicle, which is set based on the arbitration result by the arbitration unit, to at least one of the plurality of actuators. The plurality of systems include a first system and a second system. The reception unit receives request information from the first system that requests that the first action plan set in the first system be selected in preference to the second action plan set in the second system.

[0008] In this way, it is possible to prevent the execution of the first action plan from being hindered by the second action plan, and therefore it is possible to control the vehicle based on the action plan set in the first system while preventing interference between the functions of the first system and the second system. .

[0009] In one embodiment, the request information includes information requesting the override of a second action plan established in the second system.

[0010] In this way, if the second action plan is invalidated when request information is received from the first system, it is possible to prevent the execution of the first action plan from being hindered by the second action plan.

[0011] In yet another embodiment, the request information includes information requesting that the priority of a first action plan set in the first system be higher than the priority of a second action plan set in the second system.

[0012] In this way, when request information is received from the first system, the first action plan has a higher priority than the second action plan, thereby preventing the execution of the first action plan from being hindered by the second action plan.

[0013] Furthermore, in one embodiment, the arbitration unit arbitrates a plurality of action plans according to the received request information.

[0014] In this way, when request information is accepted, the arbitration unit arbitrates multiple action plans in accordance with the request information, thereby preventing the execution of the first action plan from being hindered by the second action plan.

[0015] In a further embodiment, the arbitration unit outputs information relating to the request information to the second system.

[0016] In this way, information regarding the request information is output to the second system, so that, for example, it is possible to prevent the second system from being determined to be in an abnormal state because the second action plan is not selected by the arbitration unit.

[0017] In yet another embodiment, the plurality of systems further includes a third system that establishes an action plan that is different from the first and second systems and that is not prioritized by the first action plan.

[0018] In this way, since the first action plan is not a priority for the action plans set in the third system, it is possible to prevent the execution of action plans that do not require disabling from being hindered.

[0019] In yet another embodiment, the exercise manager further comprises a memory unit that stores information about the second system and / or the third system.

[0020] In this way, information about at least one of the second system and the third system can be stored.

[0021] In yet another embodiment, the first system includes an automated driving system, and each of the second system and the third system includes a system installed in a vehicle.

[0022] In this way, the execution of the first action plan set by the automated driving system is prevented from being hindered by the second action plan set by the system installed in the vehicle. It is possible.

[0023] In one embodiment, the first system includes an automated driving system, and the second system and the third system include at least one of a plurality of driving assistance systems.

[0024] In this way, it is possible to prevent the execution of the first action plan set by the autonomous driving system from being hindered by the second action plan set by the second system, which is a driving assistance system.

[0025] Additionally, in some embodiments, the third system includes a system configured to comply with regulatory requirements.

[0026] In this way, it is possible to prevent the first action plan from taking priority over the action plan set in the third system.

[0027] In a further embodiment, the second system includes a system for assisting a driver of the vehicle.

[0028] In this way, it is possible to prevent the execution of the first action plan set by the first system from being hindered by the second action plan set by the system that assists the driver's operation of the vehicle.

[0029] In yet another embodiment, the reception unit receives request information from the first system when the vehicle is being driven automatically, and does not receive request information from the first system when the vehicle is being driven manually.

[0030] In this way, it is possible to prevent the vehicle from behaving in a manner that is not intended by the driver when the vehicle is being manually driven.

[0031] An autonomous driving device according to another aspect of the present disclosure is an autonomous driving device that transmits a first action plan for autonomous driving to a motion manager that controls the behavior of the vehicle. The motion manager requests at least one of a plurality of actuators provided in the vehicle to move the vehicle in accordance with a plurality of action plans for vehicle driving assistance that are set in each of a plurality of systems. The autonomous driving device includes a first system that sets the first action plan. The first system transmits the first action plan set in the autonomous driving device to the motion manager and also transmits request information to the motion manager requesting that the first action plan be selected in preference to a second action plan. The plurality of systems includes the first system and a second system that is mounted on the vehicle and sets the second action plan.

[0032] A control system according to another aspect of the present disclosure is a control system including a motion manager and an automated driving system. The motion manager requests at least one of a plurality of actuators provided in the vehicle to move the vehicle in accordance with a plurality of action plans related to driving assistance for the vehicle, the action plans being set in each of a plurality of systems including the automated driving system. The automated driving system sets a first action plan among the plurality of action plans and transmits request information to the motion manager requesting that the first action plan be selected in preference to a second action plan. The plurality of systems includes the automated driving system and a system installed in the vehicle that sets the second action plan.

[0033] A vehicle according to yet another aspect of the present disclosure includes an exercise manager and an automatic driving system. The vehicle is a vehicle. The motion manager requests at least one of a plurality of actuators provided in the vehicle to move the vehicle in accordance with a plurality of action plans related to driving assistance for the vehicle, which are set in each of a plurality of systems including the automated driving system. The automated driving system sets a first action plan among the plurality of action plans and transmits request information to the motion manager requesting that the first action plan be selected in preference to a second action plan. The plurality of systems includes the automated driving system and a system installed in the vehicle that sets the second action plan.

[0034] According to yet another aspect of the present disclosure, there is provided a vehicle control method executed by a computer. The control method includes the steps of: receiving information indicating a plurality of action plans related to driving assistance for the vehicle, each of which is set in a plurality of systems; arbitrating the plurality of action plans; and distributing a motion request for the vehicle, which is set based on the arbitration result, to at least one of a plurality of actuators provided in the vehicle. The plurality of systems include a first system and a second system. The control method further includes the step of receiving request information from the first system, which requests that the first action plan set in the first system be selected in preference to a second action plan set in the second system.

[0035] According to yet another aspect of the present disclosure, there is provided a program that causes a computer to execute the steps of: receiving information indicating a plurality of action plans related to driving assistance for a vehicle, each of which is set in a plurality of systems; arbitrating the plurality of action plans; and distributing a motion request for the vehicle, which is set based on a result of the arbitration, to at least one of a plurality of actuators provided in the vehicle. The plurality of systems include a first system and a second system. The program further causes a computer to execute the step of receiving, from the first system, request information requesting that the first action plan set in the first system be selected in preference to a second action plan set in the second system. [Effects of the Invention]

[0036] According to the present disclosure, it is possible to provide an exercise manager, an automatic driving device, a control system, a vehicle, a vehicle control method, and a program that appropriately set an action plan for vehicle driving assistance. [Brief explanation of the drawings]

[0037] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a vehicle. [Figure 2] FIG. 10 is a diagram illustrating an example of the operation of an exercise manager. [Figure 3] FIG. 2 is a diagram illustrating an example of the configuration of a system group and an exercise manager. [Figure 4] 10 is a flowchart illustrating an example of processing executed in the ADS. [Figure 5] 10 is a flowchart illustrating an example of processing executed in an invalidation processing unit. [Figure 6] FIG. 2 is a diagram illustrating an example of the operation of a vehicle. DETAILED DESCRIPTION OF THE INVENTION

[0038] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference numerals, and description thereof will not be repeated.

[0039] Fig. 1 is a diagram showing an example of the configuration of a vehicle 1. As shown in Fig. 1, the vehicle 1 includes an ADAS-ECU (Electronic Control Unit) 10, a brake ECU 20, and an actuator. The vehicle includes a control system 30, a central ECU 40, and an ADK (Autonomous Driving Kit) 120, which is an automatic driving device.

[0040] The vehicle 1 may be any vehicle having a configuration capable of realizing the functions of a driving assistance system described later. For example, the vehicle may be one that uses an engine as a power source, or an electric vehicle that uses an electric motor as a power source, or a hybrid vehicle that is equipped with an engine and an electric motor and uses at least one of them as a power source.

[0041] The ADAS-ECU 10, brake ECU 20, central ECU 40, and ADK120 are all processors that execute programs such as a CPU (Central Processing Unit). The computer includes a processor, a memory, and an input / output interface.

[0042] The ADAS-ECU 10 includes a driving assistance system 100 having functions related to driving assistance for the vehicle 1. The driving assistance system 100 is configured to execute implemented applications to realize various functions for assisting driving of the vehicle 1, including at least one of steering control, drive control, and braking control of the vehicle 1. The applications implemented in the driving assistance system 100 include, for example, an application that realizes the function of an automatic parking system, and an application that realizes the function of an Advanced Driver Assist System (ADAS) (hereinafter referred to as an ADAS application).

[0043] ADAS applications include, for example, adaptive cruise control (ACC), which keeps a constant distance between the vehicle and the vehicle ahead. ), an application that realizes the function of ASL (Auto Speed ​​Limiter) that recognizes the speed limit and maintains the upper limit of the vehicle's speed, an application that realizes the function of LKA (Lane Keeping Assist) or LTA (Lane Tracing Aid) that keeps the vehicle in the lane in which it is traveling. Applications that realize functions such as Autonomous Emergency Braking (AEB) or Pre-Crash Safety (PCS), which automatically brakes the vehicle to mitigate the damage caused by a collision, and The application includes at least one of the following: an application that realizes a lane departure warning function (LDW (Lane Departure Warning) or LDA (Lane Departure Alert) etc.) that warns of vehicle 1 departing from its lane; and an application that realizes an ISA (Intelligent Speed ​​Assistance) function that controls the vehicle speed so that it does not exceed an upper speed limit.

[0044] Each application of this driving assistance system 100 outputs a request for an action plan that ensures the marketability (function) of the application alone to the brake ECU 20 (more specifically, the motion manager 200) based on information on the vehicle's surroundings and assistance requests from the driver acquired (input) from multiple sensors (not shown). The multiple sensors include, for example, a vision sensor such as a forward-facing camera, radar, LiDAR (Light Detection And Ranging), or a position detection device.

[0045] The forward-facing camera is, for example, located behind the rearview mirror inside the vehicle and is used to capture images of the area ahead of the vehicle. Radar is a distance measurement device that measures the distance and direction to an object by emitting short-wavelength radio waves to the object and detecting the radio waves returned from the object. LiDAR is a distance measurement device that measures the distance by emitting pulses of laser light (light such as infrared light) and measuring the time it takes for the light to reflect off the object and return. The position detection device is, for example, composed of a GPS (Global Positioning System) that detects the position of the vehicle 1 using information received from multiple satellites orbiting the Earth.

[0046] Each application acquires information on the vehicle's surroundings that integrates the detection results of one or more sensors as recognition sensor information, and also acquires assistance requests from the driver via a user interface (not shown) such as a switch. For example, each application recognizes other vehicles, obstacles, etc. around the vehicle by image processing using artificial intelligence (AI) or an image processing processor for images and videos of the vehicle's surroundings acquired by multiple sensors. Or it makes it possible to recognize people.

[0047] The action plan also includes, for example, requirements regarding the longitudinal acceleration / deceleration to be generated in the vehicle 1, requirements regarding the steering angle of the vehicle 1, requirements regarding keeping the vehicle 1 stopped, and the like.

[0048] The request regarding the longitudinal acceleration / deceleration to be generated in the vehicle 1 includes, for example, an operation request to the powertrain system 302 and an operation request to the brake system 304.

[0049] The request regarding holding the vehicle 1 at a standstill includes, for example, a request regarding permission and prohibition of operation of at least one of an electric parking brake and a parking lock mechanism (neither of which is shown).

[0050] The electric parking brake, for example, limits the rotation of the wheels of the vehicle 1 by operating an actuator. The electric parking brake may be configured to limit the rotation of the wheels by, for example, using an actuator to operate parking brake brakes provided on some of the wheels provided on the vehicle 1. Alternatively, the electric parking brake may limit the rotation of the wheels by operating the braking device by operating the parking brake actuator to adjust the hydraulic pressure supplied to the braking device of the brake system 304.

[0051] The parking lock mechanism limits the rotation of the output shaft of the transmission by the operation of an actuator. For example, the parking lock mechanism fits a protrusion at the tip of a parking lock pole, the position of which is adjusted by an actuator, into the teeth of a gear (lock gear) that is connected to a rotating element in the transmission of the vehicle 1. This limits the rotation of the output shaft of the transmission, and therefore the rotation of the drive wheels.

[0052] The applications implemented in the driving assistance system 100 are not limited to the applications described above, and applications that realize other functions may be added, or existing applications may be omitted, and there is no particular limit to the number of applications that can be implemented.

[0053] In addition, in the present embodiment, the ADAS-ECU 10 has been described as including the driving assistance system 100 configured by a plurality of applications, but, for example, an ECU may be provided for each application. For example, the driving assistance system 100 may be configured by an ECU in which an application that realizes the functions of an automatic parking system is implemented and an ECU in which an ADAS application is implemented.

[0054] ADK120 is an Autonomous Driving System (ADS) 122 The ADK 120 is configured to be detachable from the vehicle 1 and can be replaced with another ADK. The ADS 122 has an application that realizes an autonomous driving function. The ADS 122 outputs to the brake ECU 20 a request for an action plan (i.e., an action plan for autonomous driving) that ensures the marketability (function) of the application alone, based on information on the vehicle surroundings acquired from multiple sensors mounted on the ADK 120 and the vehicle 1. The multiple sensors mounted on the ADK 120 include, for example, a vision sensor such as a forward-facing camera, radar, 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, the ADS 122 may control the acceleration / deceleration, steering, and stopping of the vehicle 1 according to the surroundings of the vehicle 1 in a section from the current location to a predetermined destination or a part of that section. The automatic driving is performed by performing at least one of these operations without the driver's operation. In this embodiment, the ADS 120 is configured to be able to acquire the situation around the vehicle 1 using a sensor or image processing device that is separate from the driving assistance system 100.

[0055] The application that realizes the autonomous driving function may be included in the driving assistance system 100, or may be implemented in an ECU different from the ADAS-ECU 10, for example.

[0056] The brake ECU 20 includes a motion manager 200. In the present embodiment, a case where the brake ECU 20 has a hardware configuration including the motion manager 200 will be described as an example, but the motion manager 200 may be provided as a standalone ECU separate from the brake ECU 20, or may be included in another ECU different from the brake ECU 20. The brake ECU 20 is configured to be able to communicate with each of the ADAS-ECU 10, the various ECUs included in the actuator system 30, the central ECU 40, and the ADK 120.

[0057] The motion manager 200 requests the actuator system 30 to perform motion of the vehicle 1 in accordance with an action plan set in at least one of the multiple applications of the driving assistance system 100 and the application that realizes the autonomous driving function of the ADS 122. The detailed configuration of the motion manager 200 will be described later.

[0058] The actuator system 30 is configured to realize the motion request of the vehicle 1 output from the motion manager 200. The actuator system 30 includes a plurality of actuators. FIG. 1 shows an example in which the actuator system 30 includes, for example, a powertrain system 302, a brake system 304, and a steering system 306 as actuators. Note that the number of actuators to which the motion manager 200 sends a request is not limited to three as described above, and may be four or more, or two or less.

[0059] The powertrain system 302 includes a powertrain capable of generating driving force to the drive wheels of the vehicle 1, and an ECU (neither of which is shown) that controls the operation of the powertrain. The powertrain includes, for example, at least one of an internal combustion engine such as a gasoline engine or a diesel engine, a transmission including a gearbox and a differential, a motor generator that serves as a driving source, a power storage device that stores power to be supplied to the motor generator, a power conversion device that converts power between the motor generator and the power storage device, and a power generation source such as a fuel cell. The ECU that controls the operation of the powertrain controls the corresponding devices in the powertrain system 302 to realize motion requests from the motion manager 200 to the corresponding devices.

[0060] The brake system 304 includes, for example, a plurality of braking devices provided on each wheel of the vehicle 1. The braking devices include, for example, hydraulic brakes such as disc brakes that generate braking force using hydraulic pressure. The braking devices may further include, for example, motor generators that are connected to the wheels and generate regenerative torque. The braking operation of the vehicle 1 using the plurality of braking devices is controlled by the brake ECU 20. The brake ECU 20 is provided with, for example, a control unit (not shown) for controlling the brake system 304, separate from the motion manager 200.

[0061] The steering system 306 includes, for example, a steering device capable of changing the steering angle of the steered wheels (for example, front wheels) of the vehicle 1, and an ECU (neither of which is shown) that controls the operation of the steering device. The steering device includes, for example, a steering wheel that changes the steering angle according to the amount of operation, 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 controls the operation of the EPS actuator.

[0062] The central ECU 40 includes a memory 42 whose stored contents can be updated. The central ECU 40 is configured to be able to communicate with, for example, the brake ECU 20, and is also configured to be able to communicate with a device (for example, a server) external to the vehicle 1 (not shown) via a communication module (not shown). When the central ECU 40 receives update information from a server external to the vehicle 1, the central ECU 40 updates the information stored in the memory 42 using the received update information. Predetermined information is stored in the memory 42. The predetermined information includes, for example, information read from various ECUs when the system of the vehicle 1 is started.

[0063] In this embodiment, the central ECU 40 has been described as reading predetermined information from various ECUs when the system of the vehicle 1 is started, but it may also have a function (gateway function) such as relaying communication between various ECUs.

[0064] An example of the operation of the exercise manager 200 will be described in detail below with reference to Fig. 2. Fig. 2 is a diagram for explaining an example of the operation of the exercise manager 200.

[0065] 2 shows a system group 150 including a driving assistance system 100 and an ADS 122. FIG. 2 also shows an example in which the driving assistance system 100 includes, as applications, an AEB 102, an LKA 104, an ACC 106, an ASL 108, a PCS 110, and an ISA 112. Furthermore, FIG. 2 also shows a system group 150 including, as applications, an AEB 102, an LKA 104, an ACC 106, an ASL 108, a PCS 110, and an ISA 112. Furthermore, FIG. 2 shows a system group 150 including, as applications, an ADS 122 that realizes, for example, an autonomous driving (AD) function. 1, the system group 150 including the driving assistance system 100 and the ADS 122 transmits a request for an action plan set in at least one of the applications to the exercise manager 200 as a request signal PLN1.

[0066] The request signal PLN1 includes, for example, information about a target acceleration set as one of the action plans in ACC, AEB, ASL, PCS, ISA or AD, and information about a target curvature set as one of the action plans in LKA or AD.

[0067] The motion manager 200 sets a motion required for the vehicle 1 based on the requirements of the action plan included in the received request signal PLN1, and requests the actuator system 30 to realize the set motion. That is, the motion manager 200 transmits a request for operation of the powertrain system 302 to the actuator system 30 as a request signal ACL1. The motion manager 200 transmits a request for operation of the brake system 304 to the actuator system 30 as a request signal BRK1. Furthermore, the motion manager 200 transmits a request for operation of the steering system 306 to the actuator system 30 as a request signal STR1.

[0068] The request signal ACL1 includes, for example, information about the requested value of the driving torque or driving force, information about the arbitration method (for example, whether to select the maximum or minimum value, change it stepwise, or change it gradually, etc.).

[0069] The request signal BRK1 includes, for example, information about the required value of the braking torque, information about the method of arbitration (for example, whether to change it stepwise or gradually), and information about the type of braking to be performed. This includes information about the implementation (whether it will be implemented immediately, etc.).

[0070] The request signal STR1 includes, for example, a target steering angle, information on whether the target steering angle is valid, and information on upper and lower limit torques of the assist torque for steering wheel operation.

[0071] Of the multiple actuators that make up the actuator system 30, the actuators that receive the corresponding request signals are controlled so as to realize the operation requests contained in the request signals.

[0072] The following describes an example of the configuration of the exercise manager 200. As shown in FIG.

[0073] The receiving unit 202 receives a request for an action plan output by one or more applications of the system group 150. Details of the action plan in this embodiment will be described later.

[0074] The arbitration unit 204 arbitrates requests for multiple action plans received from each application via the reception unit 202. One example of this arbitration process is selecting one action plan from multiple action plans based on predetermined selection criteria. Another example of the arbitration process is setting a new action plan based on the multiple action plans. The arbitration unit 204 may arbitrate requests for multiple action plans by further adding predetermined information received from the actuator system 30. Furthermore, the arbitration unit 204 may determine whether to temporarily prioritize a movement of the vehicle 1 required based on the driver state and the vehicle state over a movement of the vehicle 1 corresponding to an action plan determined based on the arbitration result.

[0075] The calculation unit 206 calculates a motion request based on the arbitration result of the action plan requests in the arbitration unit 204 and the motion of the vehicle 1 determined based on the arbitration result. This motion request is a physical quantity for controlling at least one of the actuators of the actuator system 30, and includes a physical quantity different from the physical quantity of the action plan request. For example, if the action plan request (first request) is longitudinal acceleration, the calculation unit 206 converts the acceleration into a driving force or driving torque and calculates the value as the motion request (second request).

[0076] The distribution unit 208 distributes the motion request calculated by the calculation unit 206 to at least one actuator of the actuator system 30. For example, when acceleration of the vehicle 1 is required, the distribution unit 208 distributes the motion request only to the powertrain system 302. Alternatively, when deceleration of the vehicle 1 is required, the distribution unit 208 appropriately distributes the motion request to the powertrain system 302 and the brake system 304 in order to achieve a target deceleration.

[0077] The powertrain system 302 of the actuator system 30 transmits information about the state of the powertrain system 302 as a signal ACL2 to the motion manager 200. The information about the state of the powertrain system 302 includes, for example, information about accelerator pedal operation, information about the actual driving torque or actual driving force of the powertrain system 302, actual shift range information, information about upper and lower limits of the driving torque, information about upper and lower limits of the driving force, information about the reliability of the powertrain system 302, and the like.

[0078] The brake system 304 of the actuator system 30 transmits information about the state of the brake system 304 to the motion manager 200 as signal BRK2. Information about the state of brake system 304 includes, for example, information about the operation of the brake pedal, information about the braking torque required by the driver, information about the required value of braking torque after arbitration, information about the actual braking torque after arbitration, and information about the reliability of brake system 304.

[0079] The steering system 306 of the actuator system 30 transmits information about the state of the steering system 306 as a signal STR2 to the motion manager 200. The information about the state of the steering system 306 includes, for example, information about the reliability of the steering system 306, information about whether the driver is gripping the steering wheel, information about the torque used to operate the steering wheel, information about the rotation angle of the steering wheel, etc.

[0080] The actuator system 30 also includes a sensor group 308 in addition to the powertrain system 302, braking system 304, and steering system 306 described above.

[0081] 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 longitudinal G sensor that detects the vehicle body acceleration in the longitudinal direction of the vehicle 1, a lateral G sensor that detects the vehicle body acceleration in the lateral direction of the vehicle 1, wheel speed sensors that are provided on each wheel and detect the wheel speed, and a yaw rate sensor that detects the angular velocity of the rotation angle in the yaw direction (yaw angle). 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 values ​​of the longitudinal G sensors, the detection values ​​of the lateral G sensors, the detection values ​​of the wheel speed sensors of each wheel, the detection value of the yaw rate sensor, and information regarding the reliability of each sensor.

[0082] When the exercise manager 200 receives various signals from the actuator system 30, it transmits predetermined information to the driving assistance system 100 as a signal PLN2.

[0083] The configuration of the devices mounted on the vehicle 1 and the configuration of the motion manager 200 described above are merely examples, and additions, substitutions, changes, omissions, etc. can be made as appropriate. Furthermore, the functions of each device can be integrated into one device or distributed among multiple devices as appropriate.

[0084] In the vehicle 1 having the above configuration, the motion manager 200 arbitrates and unifies multiple action plans received from the applications of the driving assistance system 100, as described above. That is, the motion manager 200 selects one action plan from the multiple action plans based on predetermined selection criteria. The motion manager 200 requests the actuator system 30 to move the vehicle 1 in accordance with the selected action plan.

[0085] In the above-described vehicle 1, when there are multiple applications that set action plans, for example, if a first action plan for performing a series of operations such as autonomous driving is set in the ADS 122 and a second action plan is set sporadically in another system, the execution of the first action plan may be hindered by the second action plan. As a result, the series of operations of the vehicle 1 intended by the ADS 122 may not be realized. In particular, since the ADS 122 is provided separately from the driving assistance system 100 mounted on the vehicle 1 and acquires the situation around the vehicle 1 using a sensor system separate from the various sensors mounted on the vehicle 1, the execution of the first action plan may be hindered by the second action plan due to differences in detection accuracy, image analysis accuracy, etc.

[0086] Therefore, in this embodiment, the receiving unit 202 of the exercise manager 200 receives the first action plan set in the ADS 122 and sends it to a predetermined application of the driving assistance system 100. The request information is received from the ADS 122, requesting that the first action plan be selected in preference to a second action plan set in a predetermined application. The arbitration unit 204 arbitrates the multiple action plans according to the received request information. In this embodiment, the request information includes a request to disable the second action plan set in a predetermined application of the driving assistance system 100.

[0087] In this way, it is possible to prevent the execution of the first action plan set in the ADS 122 from being hindered by the second action plan in another application of the driving assistance system 100. Therefore, it is possible to control the vehicle 1 based on the action plan set in the ADS 122 while preventing interference between functions between the ADS 122 and the driving assistance system 100.

[0088] An example of the functions of the reception unit 202 and the arbitration unit 204 of the exercise manager 200 in this embodiment will be described below with reference to Fig. 3. Fig. 3 is a diagram showing an example of the configuration of the system group 150 and the exercise manager 200.

[0089] As shown in Fig. 3, the system group 150 includes the ADS 122 and the driving assistance system 100. Fig. 3 shows an example in which the driving assistance system 100 includes the PCS 110 and the ISA 112. Fig. 3 also shows a case in which, for example, a required value of acceleration / deceleration is input from the system group 150 to the exercise manager 200 as an action plan.

[0090] In this embodiment, PCS110 is configured to be able to output to exercise manager 200, for example, a behavior plan including required values ​​for acceleration and deceleration, and identification information (hereinafter referred to as ID) that identifies PCS110 as the application that output the behavior plan.

[0091] Similarly, the ISA 112 is configured to be able to output to the exercise manager 200, for example, a behavior plan including a required value for acceleration / deceleration and an ID that identifies that the application that output the behavior plan is the ISA 112.

[0092] Furthermore, the AD124 is configured to be able to output to the exercise manager 200, for example, a behavior plan including required values ​​for acceleration / deceleration and the like, an ID by which it is possible to identify that the application that has output the behavior plan is AD124, and also, as shown by the dashed arrow in (A) of Fig. 3, either request information requesting invalidation of the behavior plan from a predetermined application (hereinafter, may be referred to as an invalidation request) or request information requesting cancellation of the invalidation (hereinafter, may be referred to as an invalidation cancellation request). In this embodiment, the predetermined application includes, for example, the application of the PCS110.

[0093] The reception unit 202 of the exercise manager 200 receives an action plan including various required values ​​and an ID from each application of the driving assistance system 100, and also receives an invalidation request in addition to the action plan including the required values ​​and the ID from the AD 124. The various pieces of information received by the reception unit 202 are stored in a storage device such as a memory, for example.

[0094] If the exercise manager 200 receives an override request from the AD 124, it overrides the action plan that includes the requested value from the PCS 110 and consolidates the action plans by arbitrating other action plans.

[0095] In this embodiment, the arbitration unit 204 executes a process for invalidating the action plan from the PCS 110 when an invalidation request is received.

[0096] More specifically, the arbitration unit 204 includes an invalidation processing unit 204a and an acceleration / deceleration arbitration unit 204b. When the invalidation processing unit 204a does not accept an invalidation request, it outputs to the acceleration / deceleration arbitration unit 204b, without invalidating the action plan (e.g., a requested value for acceleration / deceleration) input from the PCS 110 via the reception unit 202, as shown in Fig. 3. That is, the invalidation processing unit 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 arbitration unit 204b.

[0097] On the other hand, when the invalidation processing unit 204a receives an invalidation request, it invalidates the action plan input from the PCS 110 via the reception unit 202 and does not output the action plan to the acceleration / deceleration arbitration unit 204b. That is, the invalidation processing unit 204a outputs the action plan from the AD 124 and the action plan from the ISA 112 to the acceleration / deceleration arbitration unit 204b.

[0098] In addition, when the invalidation processing unit 204a receives an invalidation request and invalidates the action plan from PCS110 (does not output it to the acceleration / deceleration arbitration unit 204b), it is configured to output information indicating that the action plan from PCS110 has been invalidated (hereinafter referred to as request rejection information) to PCS110, as shown by the dashed arrow in (B) of Figure 3.

[0099] The dashed arrows in (A) and (B) of FIG. 3 show, as an example, a state in which an invalidation request has not been accepted and request rejection information has not been output to the PCS 110.

[0100] For example, when request rejection information is input from the invalidation processing unit 204a, the PCS 110 refrains from determining that an abnormality has occurred due to the action plan set in the PCS 110 not being selected.

[0101] The acceleration / deceleration arbitration unit 204b arbitrates (determines) the final required value using the ID and the action plan including the required value input from the invalidation processing unit 204a. Specifically, the acceleration / deceleration arbitration unit 204b determines, for example, the minimum value of the acceleration / deceleration required values ​​input from the invalidation processing unit 204a as the final acceleration / deceleration required value. The acceleration / deceleration arbitration unit 204b outputs the arbitration result (final acceleration / deceleration required value) to the calculation unit 206.

[0102] For example, when the same minimum value from multiple request values ​​is input at different times, the acceleration / deceleration arbitration unit 204b determines the earliest input request value as the final acceleration / deceleration request value. Furthermore, when the same minimum value from multiple request values ​​is input simultaneously, the acceleration / deceleration arbitration unit 204b determines the request value of the ID with the highest priority as the final acceleration / deceleration request value. Note that the method for arbitrating the request values ​​is not limited to the method of selecting the minimum value as described above. For example, the request value corresponding to the ID with the highest priority may be determined as the final request value.

[0103] The processing executed in the ADS 122 of the ADK 120 will be described below with reference to Fig. 4. Fig. 4 is a flowchart showing an example of processing executed in the ADS 122.

[0104] In step (hereinafter, step will be abbreviated as S) 100, ADS122 determines whether or not the vehicle is in autonomous driving. For example, when autonomous driving is started by an operation by an occupant of vehicle 1 or by remote control, ADS122 sets the flag to the ON state. Also, when autonomous driving is stopped by an operation or the like, ADS122 sets the flag to the OFF state. ADS122 determines that the vehicle is in autonomous driving when the flag is ON. If it is determined that the vehicle is in autonomous driving (YES in S100), processing proceeds to S102.

[0105] In S102, the ADS 122 determines whether invalidation has been requested. If a request flag, which will be described later, is in an on state, the ADS 122 determines that invalidation has been requested. On the other hand, if the request flag is in an off state, the ADS 122 determines that invalidation has not been requested. If it is determined that invalidation has been requested (YES in S102), this process is terminated. If it is determined that invalidation has not been requested (NO in S102), the process proceeds to S104.

[0106] In S104, the ADS 122 outputs an invalidation request to the exercise manager 200. The invalidation request has been described above, and therefore detailed description thereof will not be repeated.

[0107] In S106, the ADS 122 sets the request flag to the ON state. Then, the process ends. On the other hand, if it is determined that the vehicle is not in automatic driving mode (NO in S100), the process proceeds to S108.

[0108] In S108, the ADS 122 determines whether or not a request for deactivation of invalidation has been made. If the request flag is in the off state, the ADS 122 determines that a request for deactivation of invalidation has been made. On the other hand, if the request flag is in the on state, the ADS 122 determines that a request for deactivation of invalidation has not been made. If it is determined that a request for deactivation of invalidation has been made (YES in S108), this process is terminated. If it is determined that a request for deactivation of invalidation has not been made (NO in S108), the process proceeds to S110.

[0109] In S110, ADS 122 outputs to exercise manager 200 a disablement cancellation request to request cancellation of the disablement of part of the driving assistance functions (that is, the functions of PCS 110).

[0110] In S112, the ADS 122 sets the request flag to the OFF state, and then the process ends.

[0111] Next, the processing executed in the exercise manager 200 (more specifically, the invalidation processing unit 204a) will be described with reference to Fig. 5. Fig. 5 is a flowchart showing an example of the processing executed in the invalidation processing unit 204a.

[0112] In S200, invalidation processing unit 204a determines whether an invalidation request has been made. For example, invalidation processing unit 204a determines that an invalidation request has been made when an invalidation request is input from ADS 122. If it is determined that an invalidation request has been made (YES in S200), the process proceeds to S202.

[0113] In S202, the invalidation processing unit 204a determines whether or not the function has been invalidated. For example, if a invalidation flag indicating that part of the driving assistance function (i.e., the function of the PCS 110) is in a disabled state is in an on state, the invalidation processing unit 204a determines that the function has been invalidated. On the other hand, for example, if the invalidation flag is in an off state, the invalidation processing unit 204a determines that the function has not been invalidated. If it is determined that the function has not been invalidated (NO in S202), the process proceeds to S204.

[0114] In S204, the invalidation processing unit 204a sets the invalidation flag to ON. Thereafter, the process proceeds to S212. On the other hand, if it is determined that there is no invalidation request (NO in S200), the process proceeds to S206.

[0115] In S206, the invalidation processing unit 204a determines whether or not there is a request to cancel the invalidation. If it is determined that a request to cancel invalidation has been made (YES in S206), the process proceeds to S208.

[0116] In S208, the invalidation processing unit 204a determines whether the invalidation has been released. For example, if the invalidation flag is in the OFF state, the invalidation processing unit 204a determines that the invalidation has been released. On the other hand, for example, if the invalidation flag is in the ON state, the invalidation processing unit 204a determines that the invalidation has not been released. If it is determined that the invalidation has not been released (NO in S208), the process proceeds to S210.

[0117] In S210, the invalidation processing unit 204a sets the invalidation flag to the OFF state. Then, the process proceeds to S212. On the other hand, if it is determined that the invalidation has been completed (YES in S202), or if it is determined that there is no request to cancel the invalidation (NO in S206), or if it is determined that the invalidation has been canceled (YES in S208), the process proceeds to S212.

[0118] In S212, invalidation processing unit 204a determines whether the invalidation flag is in an on state. If it is determined that the invalidation flag is in an on state (YES in S212), the process proceeds to S214.

[0119] In S214, invalidation processing unit 204a outputs to acceleration / deceleration arbitration unit 204b the requested values ​​for acceleration / deceleration other than the requested values ​​from PCS 110. That is, invalidation processing unit 204a outputs to acceleration / deceleration arbitration unit 204b the requested values ​​for acceleration / deceleration from AD 124 and ISA 112. If it is determined that the invalidation flag is in the off state (NO in S212), the process proceeds to S216.

[0120] In S216, invalidation processing unit 204a outputs to PCS 110 request rejection information indicating that the action plan set in PCS 110 has been invalidated.

[0121] In S218, the invalidation processing unit 204a outputs all the requested values ​​for acceleration and deceleration, including the requested value from the PCS 110, to the acceleration and deceleration arbitration unit 204b.

[0122] An example of the operation of the vehicle 1 based on the above-described structure and flowchart will be described with reference to Fig. 6. Fig. 6 is a diagram for explaining an example of the operation of the vehicle 1. Note that the configurations of the system group 150 and exercise manager 200 in Fig. 6 are similar to the configurations of the system group 150 and exercise manager 200 in Fig. 3, and therefore detailed description thereof will not be repeated.

[0123] For example, assume that the vehicle 1 is in a manual driving state where it is manually driven, and that the request flag and the invalidation flag are both in the OFF state.

[0124] If the ADS 122 determines that the vehicle is not in automatic driving mode (NO in S100), it determines whether a request to cancel the invalidation has been made (S108). If the manual driving mode continues, the request flag remains off. Therefore, the determination that the vehicle is not in automatic driving mode (NO in S100) and the determination that a request to cancel the invalidation has been made (YES in S108) are repeated.

[0125] At this time, in the invalidation processing unit 204a, since there is no invalidation request (NO in S200) and no invalidation cancellation request (NO in S206), and the invalidation flag is in the off state (NO in S212), all request values ​​are output from the invalidation processing unit 204a to the acceleration / deceleration arbitration unit 204b (S218).

[0126] On the other hand, for example, when the ADS 122 starts automatic driving of the vehicle 1 by an operation by a passenger or a remote operation, the ADS 122 determines that the vehicle is in automatic driving (YES in S100) and determines whether an invalidation request has been made (S102). At this time, the request flag is in the OFF state, so it is determined that an invalidation request has not been made (NO in S102). Therefore, an invalidation request is output to the motion manager 200 (S104), and the request flag is set to the ON state (S106). If the automatic driving continues, the request flag remains in the ON state. Therefore, the determination that the vehicle is in automatic driving (YES in S100) and the determination that an invalidation request has been made (YES in S102) are repeated.

[0127] If an invalidation request is input from ADS 122, it is determined that an invalidation request has been made (YES in S200), and it is determined whether or not the device has been invalidated (S202). Because the invalidation flag is in the OFF state, it is determined that the device has not been invalidated (NO in S202), and the invalidation flag is set to the ON state (S204).

[0128] When the invalidation flag is turned on (YES in S212), the action plan from the PCS 110 is invalidated, and a requested value for acceleration / deceleration other than the requested value from the PCS 110 is output to the acceleration / deceleration arbitration unit 204b (S214), as shown by the dashed arrow in Fig. 6. This prevents the requested value for acceleration / deceleration from the PCS 110 from being selected in the acceleration / deceleration arbitration unit 204b. Then, as shown by the thin solid arrow in Fig. 6(B), request rejection information is output to the PCS 110 (S216). This prevents the occurrence of a determination that an abnormality has occurred due to the action plan set in the PCS 110 not being selected.

[0129] Thereafter, when the ADS 122 stops the automatic driving of the vehicle 1 by an operation by the occupant or a remote operation, the ADS 122 determines that the vehicle is not in automatic driving (NO in S100), and determines whether or not a request for deactivation has been made (S108). At this time, the request flag is in the ON state, so it is determined that a request for deactivation has not been made (NO in S108). Therefore, a request for deactivation 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 the vehicle is not in automatic driving (NO in S100) and the determination that a request for deactivation has been made (YES in S108) are repeated.

[0130] When a request to cancel invalidation is input from the ADS 122, it is determined that there is no invalidation request (NO in S200) and that there is a request to cancel invalidation (YES in S206). At this time, since the invalidation flag is in the ON state, it is determined that the invalidation has not been canceled (NO in S208), and the invalidation flag is set to the OFF state (S210).

[0131] When the invalidation flag is turned off (NO in S212), all the request values ​​are output from the invalidation processing unit 204a to the acceleration / deceleration arbitration unit 204b (S218).

[0132] As described above, according to the exercise manager 200 of the present embodiment, during autonomous driving, the action plan set in the PCS 110 is disabled by a disable request, so that it is possible to prevent the execution of the action plan set in the ADS 122 from being hindered by the action plan set in the PCS 110. Therefore, functional interference between the ADS 120 and some systems of the driving assistance system 100 is suppressed, and the vehicle 1 can be controlled so as to realize a series of operations based on the action plan set in the ADS 122. Therefore, it is possible to provide an exercise manager, an autonomous driving device, a control system, a vehicle, a vehicle control method, and a program that appropriately set an action plan related to driving assistance for the vehicle.

[0133] Furthermore, the action plan set in the ISA 112, which is a system different from the PCS 110 among the multiple systems set in the driving assistance system 100, is not invalidated. Therefore, for example, when the ISA 112 is set to comply with regulations, it is possible to prevent the action plan set in the ISA 112 from being invalidated.

[0134] Modifications will be described below. In the above embodiment, the request information has been described as including information requesting the invalidation of the action plan set in the PCS 110. However, the request information may be information indicating that at least the first action plan set in the AD 124 has priority over the second action plan set in the PCS 110, and is not particularly limited to information requesting the invalidation of the second action plan set in the PCS 110. For example, the request information may include information indicating that the priority of the first action plan set in the AD 124 is higher than the priority of the second action plan set in the PCS 110. In this way, it is possible to prevent 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.

[0135] Furthermore, in the above embodiment, the invalidation processing unit 204a of the arbitration unit 204 has been described as outputting request rejection information indicating that the action plan from the PCS 110 has been invalidated to the PCS 110 during autonomous driving, but it may also output information related to the invalidation request, such as information indicating that an invalidation request has been input from the AD 124, to the PCS 110. By inputting such information, the invalidation processing unit 204a of the PCS 110 invalidates the action plan input from the PCS 110, and it is possible to prevent the PCS 110 from being determined to be in an abnormal state even if a state in which the action plan set in the PCS 110 is not selected by the arbitration unit 204 continues.

[0136] Furthermore, in the above-described embodiment, it was explained that ADS122 outputs an invalidation request to the motion manager 200 during autonomous driving, causing the invalidation processing unit 204a to invalidate the action plan set in PCS110. However, the application that may be invalidated during autonomous driving is not limited to PCS110, and may be other applications such as AEB102, ACC106, or ASL108.

[0137] Furthermore, in the above embodiment, arbitration unit 204 has been described as including acceleration / deceleration arbitration unit 204b, but for example, arbitration unit 204 may further include an arbitration unit that arbitrates required values ​​such as a steering angle, and an action plan set in any application that outputs required values ​​such as a steering angle may be invalidated. Note that applications that output required values ​​such as a steering angle and that may be invalidated include, for example, at least one of a plurality of applications that set action plans related to steering angles, such as LKA 104 and LTA.

[0138] Furthermore, in the above-described embodiment, it has been described that when the vehicle is not in autonomous driving, a request to cancel the invalidation prevents the action plan set in the PCS 110 from being invalidated, but for example, when the vehicle is not in autonomous driving, that is, when the vehicle is in manual driving, the reception unit 202 may not accept an invalidation request from the AD 124. In this case, by not accepting an invalidation request from the reception unit 202, the invalidation processing unit 204a outputs the action plan set in the PCS 110 to the acceleration / deceleration arbitration unit 204b without invalidating it.

[0139] Furthermore, in the above embodiment, the ADS 122 outputs an invalidation request, Although the case where an action plan set in a specified application is invalidated has been described as an example, the application that outputs the invalidation request is not particularly limited to ADS122. For example, at least one of the applications included in the driving assistance system 100 may output an invalidation request to invalidate an action plan set in at least one of the multiple applications including ADS122.

[0140] Furthermore, in the above-described embodiment, the exercise manager 200 has been described as including the receiving unit 202, the arbitration unit 204, the calculation unit 206, and the distribution unit 208 as an example, but the exercise manager 200 may also have a configuration including, for example, at least a first exercise manager that receives an action plan from an application, and a second exercise manager that can communicate with the first exercise manager and requests exercise from the actuator system 30. In this case, the functions of the arbitration unit 204, the calculation unit 206, and the distribution unit 208 may be implemented in either the first exercise manager or the second exercise manager.

[0141] The above-described modifications may be implemented in whole or in part in appropriate combination. The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0142] 1 Vehicle, 30 Actuator system, 42 Memory, 100 Driving assistance system, 102 AEB, 104 LKA, 106 ACC, 110 PCS, 112 ISA, 120 ADK, 122 ADS, 124 AD, 150 System group, 200 Motion manager, 202 Reception unit, 204 Arbitration unit, 204a Disable processing unit, 204b Acceleration / deceleration arbitration unit, 206 Calculation unit, 208 Distribution unit, 302 Powertrain system, 304 Brake system, 306 Steering system, 308 Sensor group.

Claims

1. a motion manager that requests motion of the vehicle to at least one of a plurality of actuators provided in the vehicle in accordance with a plurality of action plans related to driving assistance of the vehicle that are set in each of a plurality of systems, a receiving unit that receives information indicating the plurality of action plans from the plurality of systems; a mediation unit that mediates the plurality of action plans; a distribution unit that distributes a motion request for the vehicle, which is set based on a result of arbitration by the arbitration unit, to at least one of the plurality of actuators; the plurality of systems includes a first system and a second system; The exercise manager, wherein the reception unit receives request information from the first system requesting that a first action plan set in the first system be selected in preference to a second action plan set in the second system.

2. The exercise manager of claim 1 , wherein the request information includes information requesting the second action plan established in the second system to be overridden.

3. The exercise manager of claim 1 , wherein the request information includes information requesting that the priority of the first action plan set in the first system be made higher than the priority of the second action plan set in the second system.

4. 4. The exercise manager according to claim 1, wherein the arbitration unit arbitrates the plurality of action plans in accordance with the received request information.

5. 5. The exercise manager according to claim 1, wherein the arbitration unit outputs information relating to the request information to the second system.

6. 6. The exercise manager of claim 1, wherein the plurality of systems further includes a third system that sets an action plan that is different from the first system and the second system and that is not prioritized by the first action plan.

7. The exercise manager of claim 6 , further comprising a storage unit that stores information about at least one of the second system and the third system.

8. the first system includes an automated driving system; The exercise manager of claim 6 or 7, wherein the second system and the third system each include a system onboard the vehicle.

9. the first system includes an automated driving system; The exercise manager of claim 6 or 7, wherein the second system and the third system include at least one of a plurality of driving assistance systems.

10. The exercise manager of any one of claims 6 to 9, wherein the third system comprises a system configured to comply with regulations.

11. The exercise manager according to any one of claims 1 to 10, wherein the second system includes a system for assisting a driver of the vehicle in driving.

12. The exercise manager of any one of claims 1 to 11, wherein the reception unit receives the request information from the first system when the vehicle is being driven automatically, and does not receive the request information from the first system when the vehicle is being driven manually.

13. An autonomous driving device that transmits a first action plan for autonomous driving to a motion manager that controls the behavior of a vehicle, wherein the motion manager requests at least one of a plurality of actuators provided in the vehicle to move the vehicle in accordance with a plurality of action plans for driving assistance of the vehicle that are set in each of a plurality of systems; the automated driving device includes a first system that sets the first action plan; the first system transmits the first action plan set in the automatic driving device to the exercise manager, and transmits request information to the exercise manager requesting that the first action plan be selected in preference to a second action plan; The plurality of systems includes the first system and a second system mounted on the vehicle and configured to set the second action plan.

14. A control system including a motion manager and an automated driving system, the motion manager requests at least one of a plurality of actuators provided in the vehicle to move the vehicle in accordance with a plurality of action plans related to vehicle driving assistance set in each of a plurality of systems including the autonomous driving system; the autonomous driving system sets a first action plan among the plurality of action plans and transmits request information to the exercise manager requesting that the first action plan be selected in preference to a second action plan; The plurality of systems includes the autonomous driving system and a system installed in the vehicle that sets the second action plan.

15. A vehicle comprising a motion manager and an automated driving system, the motion manager requests at least one of a plurality of actuators provided in the vehicle to move the vehicle in accordance with a plurality of action plans related to vehicle driving assistance set in each of a plurality of systems including the autonomous driving system; the autonomous driving system sets a first action plan among the plurality of action plans and transmits request information to the exercise manager requesting that the first action plan be selected in preference to a second action plan; The plurality of systems includes the autonomous driving system and a system mounted on the vehicle that sets the second action plan.

16. 1. A computer-implemented method for controlling a vehicle, comprising: receiving information indicating a plurality of action plans related to driving assistance for the vehicle, which are set in each of a plurality of systems; reconciling the plurality of action plans; and distributing a motion request for the vehicle, which is set based on the arbitration result, to at least one of a plurality of actuators provided on the vehicle; the plurality of systems includes a first system and a second system; The control method for a vehicle further includes a step of receiving request information from the first system requesting that a first action plan set in the first system be selected in preference to a second action plan set in the second system.

17. On the computer, receiving information indicating a plurality of action plans related to vehicle driving assistance set in each of the plurality of systems; reconciling the plurality of action plans; and distributing a motion request for the vehicle, which is set based on the arbitration result, to at least one of a plurality of actuators provided on the vehicle; the plurality of systems includes a first system and a second system; a program that further executes a step of receiving request information from the first system requesting that a first action plan set in the first system be selected in preference to a second action plan set in the second system.

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