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US 12,606,205 B2Granted
Actuator system, vehicle, motion manager, and driver assistance system
AssigneeToyota Jidosha Kabushiki Kaisha
InventorTakahisa Harada
Life of this patent
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Abstract
An actuator system to be provided in a vehicle and configured to realize a motion request includes one or more processors configured to receive predetermined information from a motion manager, and an actuator configured to realize the motion request by using the predetermined information. The one or more processors are configured to receive first information related to a state of the vehicle that is recognized by the motion manager. The one or more processors are configured to determine whether to permit control on the actuator by using a result of comparison between the first information and second information related to a current state of the vehicle.
Claims8
An actuator system to be provided in a vehicle and configured to realize a motion request generated by a motion manager configured to arbitrate kinematic plans related to driver assistance for the vehicle, the motion request being generated by using a result of arbitration of the kinematic plans, the actuator system comprising:
- a plurality of processors each configured to receive predetermined information from the motion manager, the predetermined information including:
- (i) instructions for operation of one or more actuators and (ii) desired first information related to desired state of the vehicle as determined by the motion manager;
- and
- wherein the one or more actuators are configured to realize the motion request by using the predetermined information, wherein each of the plurality of processors are configured to:
- obtain the desired first information related to a desired state of the vehicle that is recognized by the motion manager;
- and
- obtain an actual second information related to an actual current state of the vehicle based on sensor data;
- determine whether to permit control on the one or more actuators by using a result of comparison between the desired first information and the actual second information, wherein:
- the one or more actuators include actuators related to a powertrain system, actuators related to a brake system, and actuators related to a steering system;
- each of the powertrain system, the brake system, and the steering system includes a respective dedicated processor from the plurality of processors, the dedicated processors comprising (i) a powertrain system processor for the powertrain system, (ii) a brake system processor for the brake system, and (iii) a steering system processor for the steering system, each dedicated processor being configured to control its corresponding actuator system;
- wherein the desired first information includes one or more selected from:
- (i) a desired state of a powertrain system,
- (ii) a desired state of a brake system,
- (iii) a desired state of a steering system, or
- (iv) a desired value from a sensor unit;
- and
- wherein the actual second information includes one or more selected from:
- (i) an actual current state of the powertrain system,
- (ii) an actual current state of the brake system,
- (iii) an actual current state of the steering system, or
- (iv) an actual desired value from the sensor unit.
18 more elements
A vehicle comprising:
- a driver assistance system configured to set a kinematic plan related to driver assistance for the vehicle;
- a motion manager configured to arbitrate multiple kinematic plans set by the driver assistance system;
- and
- an actuator system configured to realize a motion request generated by using a result of arbitration of the kinematic plans in the motion manager, wherein:
- the actuator system includes:
- a plurality of processors each configured to receive predetermined information from the motion manager, the predetermined information including:
- (i) instructions for operation of one or more actuators and (ii) desired first information related to desired state of the vehicle as determined by the motion manager;
- and
- the one or more actuators configured to realize the motion request by using the predetermined information;
- and
- each of the plurality of processors are configured to:
- obtain the desired first information related to a desired state of the vehicle that is recognized by the motion manager;
- obtain an actual second information related to an actual current state of the vehicle based on sensor data;
- and
- determine whether to permit control on the one or more actuators by using a result of comparison between the desired first information and the actual second information related to a current state of the vehicle, wherein:
- the one or more actuators include actuators related to a powertrain system, actuators related to a brake system, and actuators related to a steering system;
- each of the powertrain system, the brake system, and the steering system includes a respective dedicated processor from the plurality of processors, the dedicated processors comprising (i) a powertrain system processor for the powertrain system, (ii) a brake system processor for the brake system, and (iii) a steering system processor for the steering system, each dedicated processor being configured to control its corresponding actuator system;
- wherein the desired first information includes one or more selected from:
- (i) a desired state of a powertrain system,
- (ii) a desired state of a brake system,
- (iii) a desired state of a steering system, or
- (iv) a desired value from a sensor unit;
- and
- wherein the actual second information includes one or more selected from:
- (i) an actual current state of the powertrain system,
- (ii) an actual current state of the brake system,
- (iii) an actual current state of the steering system, or
- (iv) an actual desired value from the sensor unit.
25 more elements
Dependencies are inferred from the claim text.