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US 11,884,260 B2Granted
Vehicle control device
AssigneeToyota Jidosha Kabushiki Kaisha
InventorsMasumi Dakemoto, Kaiji Itabashi, Yoshihisa Yamada
Life of this patent
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Abstract
The vehicle control device includes an arbitration unit configured to arbitrate between a plurality of control commands acquired from a plurality of driving support applications that respectively implements driving support functions, configured to output instructions based on a control command after arbitration to a first control unit that is able to control a steering actuator and a second control unit that is able to control at least one of a brake actuator or a drive actuator, and configured to acquire a steering angle and a yaw rate as the control commands from the driving support applications.
Claims7
A vehicle control device comprising:
- an arbitration unit configured to:
- acquire steering angles and yaw rates serving as control commands from a plurality of driving support applications that respectively implements driving support functions, wherein
- each of the plurality of driving support applications is respectively executed by an execution unit that is implemented by an electronic control unit;
- arbitrate the steering angles and yaw rates serving as the control commands by selecting a control command from the steering angles and the yaw rates acquired, based on a predetermined selection criterion;
- derive a lateral momentum based on a result of arbitrating the steering angles and the yaw rates;
- output instructions based on the derived lateral momentum to a first control unit configured to control a steering actuator and a second control unit configured to control at least one of a brake actuator or a drive actuator;
- output an instruction based on at least a steering angle serving as a control command after arbitration to the first control unit in a case where the control command after arbitration is able to be realized only by controlling the steering actuator;
- and
- output an instruction based on at least a yaw rate serving as the control command after arbitration to the second control unit in a case where the control command after arbitration is not able to be realized only by controlling the steering actuator,
- wherein the case where the control command after arbitration is not able to be realized only by controlling the steering actuator is a case where the steering angle serving as the control command after arbitration deviates, by a predetermined value or more, from an actual steering angle of the steering actuator that has operated in accordance with the instruction based on the steering angle.
7 more elements
A vehicle control device comprising:
- an arbitration unit configured to:
- acquire information that allows steering angles and yaw rates serving as a plurality of control commands to be specified from each of a plurality of driving support applications, the driving support applications respectively implementing driving support functions, wherein
- each of the plurality of driving support applications is respectively executed by an execution unit that is implemented by an electronic control unit;
- arbitrate the steering angles and yaw rates serving as the control commands by selecting a control command from the plurality of control commands acquired, based on a predetermined selection criterion;
- derive a lateral momentum based on a result of arbitrating the steering angles and the yaw rates;
- output an instruction based on the derived lateral momentum to a first control unit configured to control a steering actuator and a second control unit configured to control at least one of a brake actuator and a drive actuator;
- output an instruction based on at least a steering angle serving as a control command after arbitration to the first control unit in a case where the control command after arbitration is able to be realized only by controlling the steering actuator;
- and
- output an instruction based on at least a yaw rate serving as the control command after arbitration to the second control unit in a case where the control command after arbitration is not able to be realized only by controlling the steering actuator,
- wherein the case where the control command after arbitration is not able to be realized only by controlling the steering actuator is a case where the steering angle serving as the control command after arbitration deviates, by a predetermined value or more, from an actual steering angle of the steering actuator that has operated in accordance with the instruction based on the steering angle.
7 more elements
A vehicle control device comprising:
- an electronic control unit configured to:
- acquire steering angles and yaw rates serving as control commands from a plurality of driving support applications that respectively implements driving support functions, wherein
- each of the plurality of driving support applications is respectively executed by an execution unit that is implemented by the electronic control unit;
- arbitrate the steering angles and yaw rates serving as the control commands;
- derive a lateral momentum based on a result of arbitrating the steering angles and the yaw rates;
- output instructions based on the derived lateral momentum to a first control unit configured to control a steering actuator and a second control unit configured to control at least one of a brake actuator or a drive actuator;
- output an instruction based on at least a steering angle serving as a control command after arbitration to the first control unit in a case where the control command after arbitration is able to be realized only by controlling the steering actuator;
- and
- output an instruction based on at least a yaw rate serving as the control command after arbitration to the second control unit in a case where the control command after arbitration is not able to be realized only by controlling the steering actuator,
- wherein the case where the control command after arbitration is not able to be realized only by controlling the steering actuator is a case where the steering angle serving as the control command after arbitration deviates, by a predetermined value or more, from an actual steering angle of the steering actuator that has operated in accordance with the instruction based on the steering angle.
7 more elements
Dependencies are inferred from the claim text.