Motion manager, vehicle, vehicle control method, and non-transitory storage medium

A vehicle comprising:

• a driver assistance system including a plurality of applications configured to independently set each of a plurality of kinematic plans on driver assistance of the vehicle;
• and
• a motion manager comprising one or more processors configured to:
• request motion of the vehicle according to the kinematic plan set in at least one of the applications to at least one of a plurality of actuators provided in the vehicle;
• and
• transmit, to each of the applications, a plurality of fail classes respectively indicating operating states of the actuators, wherein
• when an abnormality occurs in at least one of the actuators, the fail classes, which are transmitted to each of the applications, include additional information transmitted from an actuator where the abnormality occurs, the additional information being used for setting an operation of an application corresponding to the abnormality from among the applications and including at least one of information indicating a vehicle velocity range influenced by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after occurrence of the abnormality.

A vehicle control method executed by a computer, the vehicle control method comprising:

• receiving a plurality of kinematic plans from a plurality of applications configured to set the kinematic plans on driver assistance of a vehicle;
• arbitrating the received kinematic plans;
• calculating a motion request to the vehicle based on an arbitration result of the kinematic plans;
• distributing the motion request to at least one of a plurality of actuators provided in the vehicle;
• and
• transmitting, to each of the applications, a plurality of fail classes respectively indicating operating states of the actuators, wherein
• when an abnormality occurs in at least one of the actuators, the fail classes, which are transmitted to each of the applications, include additional information transmitted from an actuator where the abnormality occurs, the additional information being used for setting an operation of an application corresponding to the abnormality from among the applications and including at least one of information indicating a vehicle velocity range influenced by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after occurrence of the abnormality.

A non-transitory storage medium storing instructions that are executable by a computer and that cause the computer to execute functions comprising:

• receiving a plurality of kinematic plans from a plurality of applications configured to set the kinematic plans on driver assistance of a vehicle;
• arbitrating the received kinematic plans;
• calculating a motion request to the vehicle based on an arbitration result of the kinematic plans;
• distributing the motion request to at least one of a plurality of actuators provided in the vehicle;
• and
• transmitting, to each of the applications, a plurality of fail classes respectively indicating operating states of the actuators, wherein
• when an abnormality occurs in at least one of the actuators, the fail classes, which are transmitted to each of the applications, include additional information transmitted from an actuator where the abnormality occurs, the additional information being used for setting an operation of the application corresponding to the abnormality from among the applications and including at least one of information indicating a vehicle velocity range influenced by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after occurrence of the abnormality.