Motion Manager Arbitration for Vehicle Actuator Abnormality Handling
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Solution Overview
Problem
In vehicle systems with multiple actuators, design changes and handling of actuator abnormalities can be complex and time-consuming due to direct information exchange between applications and actuators, leading to increased work requirements for function modifications.
Innovation Solution
A motion manager that arbitrates kinematic plans from various applications, distributes motion requests to actuators, and receives information on actuator abnormalities to facilitate appropriate operation adjustments, thereby simplifying the relationship between applications, the motion manager, and actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If applications directly receive information from actuators when an abnormality occurs, then the application can adjust its operation appropriately, but the relationship between applications, motion manager, and actuators becomes complicated
Solution Approach 1:
The motion manager serves as an intermediary component that receives abnormality information from actuators and distributes it to relevant applications. This mediator role simplifies the system architecture by centralizing information flow through a single interface, eliminating the need for direct application-actuator communication while maintaining the capability for appropriate operation adjustments.
2Adaptability or versatility
If multiple applications individually receive information from actuators, then each application can adjust its operation, but a large amount of work or work time is required for design changes
Solution Approach 1:
The motion manager implements a universal interface that handles abnormality information distribution to multiple applications through a standardized mechanism. This multi-functional component can serve any number of applications without requiring individual customization, thereby reducing design change time while maintaining the flexibility for each application to adjust its operation based on the received information.
3Speed
If applications directly communicate with actuators, then real-time operation adjustment is possible, but the system requires more information exchange pathways
Solution Approach 1:
The system merges multiple information exchange pathways into a single centralized channel through the motion manager. Instead of having separate communication paths from each actuator to each application, all abnormality information flows through the motion manager, which then distributes it to relevant applications. This consolidation maintains real-time response capability while significantly reducing the complexity of information exchange pathways.
Data Source
AI summary
A motion manager configured to request motion of a vehicle according to a kinematic plan on driver assistance of the vehicle to at least one of a plurality of actuators provided in the vehicle includes one or more processors. The one or more processors are configured to arbitrate a plurality of kinematic plans respectively set in a plurality of applications, calculate a motion request to the vehicle based on an arbitration result of the kinematic plans, distribute the motion request to at least one of the actuators, and receive, when an abnormality occurs in at least one of the actuators, information indicating a function in which the abnormality occurs and information for setting an operation of an application corresponding to the abnormality from among the applications.