Control device

A brake electronic control unit (“ECU”) for controlling a brake actuator of a vehicle, wherein the brake ECU is configured to:

• control the brake actuator;
• receive a plurality of kinematic plans respectively from a plurality of advanced safety applications implemented by a plurality of actuator systems including the brake actuator, each of the plurality of kinematic plans including information that specifies an acceleration;
• arbitrate the plurality of kinematic plans;
• calculate a motion request based on a result of the arbitration, the motion request including instruction information indicating a magnitude of a force to be generated at one or more actuator systems from among the plurality of actuator systems;
• and
• distribute the motion request to the one or more actuator systems.

A brake control device for controlling a brake actuator of a vehicle, the brake control device comprising:

• a brake electronic control unit (“ECU”) configured to:
• control the brake actuator;
• receive a plurality of first requests respectively from a plurality of driver assistance applications implemented by a plurality of actuators including the brake actuator, each of the plurality of first requests including information that specifies an acceleration;
• arbitrate the plurality of first requests;
• calculate a second request based on a result of the arbitration, the second request including instruction information indicating a magnitude of a force to be generated at one or more actuators from among the plurality of actuators;
• and
• distribute the second request to the one or more actuators.

A system comprising:

• a plurality of actuator systems including a brake actuator of a vehicle;
• and
• a brake electronic control unit (“ECU”) that controls the brake actuator, wherein the brake ECU is configured to:
• control the brake actuator;
• receive a plurality of kinematic plans respectively from a plurality of advanced safety applications implemented by the plurality of actuator systems, each of the plurality of kinematic plans including information that specifies an acceleration;
• arbitrate the plurality of kinematic plans;
• calculate a motion request based on a result of the arbitration, the motion request including instruction information on a magnitude of a force to be generated at one or more actuator systems from among the plurality of actuator systems;
• and
• distribute the motion request to the one or more actuator systems.

A control method performed by a brake electronic control unit (“ECU”), the brake ECU being configured to control a brake actuator of a vehicle, the method comprising:

• controlling the brake actuator;
• receiving a plurality of kinematic plans respectively from a plurality of advanced safety applications implemented by a plurality of actuator systems including the brake actuator, each of the plurality of kinematic plans including information that specifies an acceleration;
• arbitrating the plurality of kinematic plans;
• calculating a motion request based on a result of the arbitration, the motion request including instruction information on a magnitude of a force to be generated at one or more actuator systems from among the plurality of actuator systems;
• and
• distributing the motion request to the one or more actuator systems.

A vehicle comprising:

• a brake actuator;
• and
• a brake electronic control unit (“ECU”) configured to:
• control the brake actuator;
• receive a plurality of first requests respectively from a plurality of driver assistance applications implemented by a plurality of actuators including the brake actuator, each of the plurality of first requests including information that specifies an acceleration;
• arbitrate the plurality of first requests;
• calculate a second request based on a result of the arbitration, the second request including instruction information on a magnitude of a force to be generated at one or more actuators from among the plurality of actuators;
• and
• distribute the second request to the one or more actuators.