Control device for vehicle, control method, non-transitory computer-readable storage medium, manager, and vehicle

A manager installed in a vehicle, the manager comprising:

• an electronic control unit that is configured to:
• accept a plurality of kinematic plans from a plurality of advanced driving-assistance system applications;
• arbitrate the plurality of kinematic plans;
• calculate a motion request based on arbitration results;
• and
• distribute the motion request to at least one actuator system of a plurality of actuator systems, wherein
• in response to a kinematic plan of the plurality of kinematic plans requesting a driving force exceeding a first driving force necessary for recovery from a fuel cut state, the electronic control unit performs arbitration such that an actual driving force generated by the vehicle is no greater than the first driving force, until reaching a driving force lower limit realizable by a powertrain actuator included in an actuator system of the plurality of actuator systems at a current gear ratio.

A control method executed by a computer of a manager installed in a vehicle, the control method comprising:

• accepting a plurality of kinematic plans from a plurality of ADAS applications;
• arbitrating the plurality of kinematic plans;
• calculating a motion request based on arbitration results from the arbitrating;
• and
• distributing the motion request to at least one actuator system of a plurality of actuator systems, wherein
• in response to a kinematic plan of the plurality of kinematic plans requesting a driving force exceeding a first driving force necessary for recovery from a fuel cut state, in the arbitrating, arbitration is performed such that an actual driving force generated by the vehicle is no greater than the first driving force, until reaching a driving force lower limit realizable by a powertrain actuator included in an actuator system of the plurality of actuator systems at a current gear ratio.

A non-transitory computer-readable storage medium storing a program that is executable by a computer of a manager installed in a vehicle and that causes the computer to perform functions comprising:

• accepting a plurality of kinematic plans from a plurality of ADAS applications;
• and
• arbitrating the plurality of kinematic plans;
• calculating a motion request based on arbitration results from the arbitrating;
• distributing the motion request to at least one actuator system of a plurality of actuator systems, wherein
• in response to a kinematic plan of the plurality of kinematic plans requesting a driving force exceeding a first driving force necessary for recovery from a fuel cut state, in the arbitrating, arbitration is performed such that an actual driving force generated by the vehicle is no greater than the first driving force, until reaching a driving force lower limit realizable by a powertrain actuator included in an actuator system of the plurality of actuator systems at a current gear ratio.