Vehicle Command Arbitration for Coordinated Lateral Motion Control

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Solution Overview

Problem

Existing vehicle control systems fail to integrate multiple driving support applications, leading to suboptimal vehicle behavior and responsiveness.

Innovation Solution

A vehicle control device that integrates multiple driving applications, leading to optimal vehicle behavior and responsiveness.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If the steering actuator is controlled based on steering angle from driving support applications, then the steering command can be executed, but the vehicle lateral movement control fails when the steering actuator cannot be controlled as expected

Engineering Contradiction:

Improvesteering command executionVSAvoidvehicle lateral movement control

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

An arbitration control unit is introduced as an intermediary between multiple driving support applications and the steering actuator. This mediator receives steering commands from various applications, arbitrates between them, and outputs a single controlled steering command to the steering actuator, ensuring reliable vehicle lateral movement control even when individual application commands cannot be executed as expected

Inventive Principle:

Principle #24Intermediary (Mediator)

Solution Approach 2:

The arbitration control unit implements feedback by monitoring the actual steering actuator output and comparing it with the commanded steering angle. When the actual steering angle deviates from the commanded angle beyond a predetermined threshold, the system detects this discrepancy and adjusts the arbitration output to compensate, ensuring the vehicle lateral movement remains controlled despite actuator limitations

Inventive Principle:

Principle #23Feedback

2Adaptability or versatility

If multiple driving support applications generate steering commands independently, then each application can function autonomously, but the vehicle behavior becomes suboptimal and uncoordinated

Engineering Contradiction:

Improvedriving support function independenceVSAvoidvehicle behavior coordination

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

Multiple independent steering commands from different driving support applications are merged into a single arbitration output. The arbitration control unit combines these commands using weighted summation or selection logic, maintaining the functional independence of each application while achieving coordinated vehicle behavior through unified output control

Inventive Principle:

Principle #5Merging (Combining)

Data Source

PatentUS20250368184A1Vehicle control device for arbitration of driving support commands and lateral momentum-based control

Publication Date: 2025.12.04 TOYOTA JIDOSHA KK

AI summary

A vehicle control device includes an arbitration unit configured to acquire steering angles and yaw rates as control commands from multiple driving support applications, each executed by a separate electronic control unit. The arbitration unit selects a control command from the acquired steering angles and yaw rates based on a predetermined criterion, derives a lateral momentum from the selected command, and outputs instructions based on the derived lateral momentum. These instructions are sent to a first control unit that controls a steering actuator and a second control unit that controls at least one of a brake actuator or a drive actuator.