# US 11,897,477 B2 · Control device for vehicle, control method, non-transitory computer-readable storage medium, manager, and vehicle

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,897,477 B2
- Document ID: US11897477B2
- Status: Granted
- Kind: B2
- Application number: 17/569,003
- Filed: 2022-01-05
- Published: 2022-07-14
- Granted: 2024-02-13
- Earliest claimed: 2021-01-14
- Assignees: Toyota Jidosha Kabushiki Kaisha; Advics Co., Ltd.
- Applicants: Toyota Jidosha Kabushiki Kaisha; Advics Co., Ltd.
- Inventors: Nobuyuki Itoh; Shogi Fukukawa
- Web page: https://patentgrep.com/patent/US11897477B2

## CPC

- B60W 30/20: Reducing vibrations in the driveline
- B60W 30/143: {Speed control (B60W30/16 takes precedence)}
- B60W 30/18072: {Coasting}
- B60W 2030/1809: {Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral}
- B60W 2030/203: {related or induced by the clutch}
- B60W 2510/0614: Position of fuel or air injector
- B60W 2510/1005: Transmission ratio engaged
- B60W 2720/106: Longitudinal acceleration
- B60W 2720/30: Wheel torque
- Y02T 10/60: Other road transportation technologies with climate change mitigation effect
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

A control device installed in a vehicle comprising an electronic control unit configured to: accept a plurality of first requests from a driving assistance system; arbitrate the first requests; calculate a second request that is a physical amount that differs from the first requests based on a result of arbitration in which the first requests are arbitrated; and distribute the second request to at least one of a plurality of actuator systems, wherein the electronic control unit is configured to, when there is the first request requesting a driving force exceeding a first driving force necessary for recovery from a fuel cut state, perform 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 the actuator system at a current gear ratio.

## Claims

### Claim 1

A control device installed in a vehicle, the control device comprising an electronic control unit configured to:
accept a plurality of first requests from a driving assistance electronic control unit;
arbitrate the first requests;
calculate a second request that is a physical amount that differs from the first requests based on a result of arbitration in which the first requests are arbitrated; and
distribute the second request to at least one actuator system of a plurality of actuator systems, wherein
when the electronic control unit determines that the first request requesting a driving force exceeds 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.

### Claim 2 (depends on 1)

The control device according to claim 1, wherein the electronic control unit is configured to, when there is the first request requesting a driving force exceeding the first driving force, set an arbitrated driving force that is a driving force output as arbitration results to the first driving force, until the actual driving force of the vehicle reaches the driving force lower limit of the powertrain actuator.

### Claim 3 (depends on 2)

The control device according to claim 2, wherein the electronic control unit is configured to, following maintaining the arbitrated driving force at the first driving force for a first duration of time, set the arbitrated driving force to the driving force lower limit of the powertrain actuator.

### Claim 4 (depends on 3)

The control device according to claim 3, wherein the electronic control unit is configured to, following maintaining output of the driving force lower limit for a second duration of time, increase, by a prescribed jerk, a driving force output as arbitration results to a requested driving force that is a result of arbitration of the first requests.

### Claim 5

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.

### Claim 6

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.

### Claim 7

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.

### Claim 8 (depends on 1)

A vehicle, wherein the control device according to claim 1 is installed.