# US 12,005,882 B2 · Control device

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- Number: US 12,005,882 B2
- Document ID: US12005882B2
- Status: Granted
- Kind: B2
- Application number: 17/489,009
- Filed: 2021-09-29
- Published: 2022-01-20
- Granted: 2024-06-11
- Earliest claimed: 2018-08-30
- Assignees: Toyota Jidosha Kabushiki Kaisha
- Applicants: Toyota Jidosha Kabushiki Kaisha
- Inventors: Yoshihisa Yamada
- Web page: https://patentgrep.com/patent/US12005882B2

## CPC

- B60W 10/04: including control of propulsion units
- B60W 10/18: including control of braking systems
- B60T 8/1755: Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve (road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02)
- B60W 10/20: including control of steering systems
- B60W 30/02: Control of vehicle driving stability
- B60W 30/06: Automatic manoeuvring for parking
- B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering
- B60W 30/12: Lane keeping
- B60W 30/14: {Adaptive} cruise control
- B60W 2050/0006: {Digital architecture hierarchy}
- B60W 2050/009: {Priority selection}
- B60W 2050/0091: {of control inputs}
- B60W 2050/0094: {of control units}
- B60W 2520/10: Longitudinal speed
- B60W 2520/105: Longitudinal acceleration
- B60W 2520/125: Lateral acceleration
- B60W 2520/14: Yaw
- B60W 2520/28: Wheel speed
- B60W 2540/10: Accelerator pedal position
- B60W 2540/12: Brake pedal position
- B60W 2540/18: Steering angle
- 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
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES

## Abstract

A control device for controlling a brake of a vehicle includes an arbitrating unit configured to receive motion requests for a plurality of actuators, which are used for controlling a motion of the vehicle, from a plurality of application requesting units related to driving support functions and to arbitrate the received motion requests, a command distributing unit configured to distribute commands to controllers for controlling the actuators based on an arbitration result obtained by the arbitrating unit, and a feedback controller configured to feed back a control record value indicating the motion of the vehicle, which is measured by using sensor units, to the application requesting units and to realize the motion of the vehicle requested by the application requesting units.

## Claims

### Claim 1

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 first requests respectively from driver assistance applications implemented by a plurality of actuator systems 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 actuator systems from among the plurality of actuator systems; and
distribute the second request to the one or more actuator systems.

### Claim 2

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.

### Claim 3

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.

### Claim 4

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.

### Claim 5

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.

### Claim 6

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.