Motion manager, control method, and non-transitory storage medium
AssigneesToyota Jidosha Kabushiki Kaisha, J-QuAD DYNAMICS INC., Advics Co., Ltd.
InventorsYuta Ohashi, Tatsuya Hiromura
Life of this patent
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Abstract
A motion manager for a vehicle includes one or more processors, and the one or more processors are configured to: receive acceleration request values from a plurality of applications and driver assistance levels associated with the respective acceleration request values; select the smallest acceleration request value of the plurality of acceleration request values received; select the highest driver assistance level of the plurality of driver assistance levels received; and while outputting a specified value according to the selected acceleration request value to an actuator of the vehicle, stop the output of the specified value under a condition according to the selected driver assistance level.
Claims12
A motion manager for a vehicle that includes a plurality of driver assistance applications, the plurality of driver assistance applications providing different driver assistance functions and having different driver assistance levels, a value of the driver assistance level representing a level of autonomous driving provided by the driver assistance application and the value of the driver assistance level being higher as the level of autonomous driving provided by the driver assistance application increases, each of the different driver assistance levels having a different stopping condition at which execution of the driver assistance function corresponding to the driver assistance level is stopped, the stopping condition including one or more of (i) a status of one or more of sensors, actuators and other portions of the vehicle that are required for the vehicle to travel and (ii) a travelling state of the vehicle, the motion manager comprising one or more processors configured to:
- receive (1) acceleration request values from a plurality of the driver assistance applications, and (2) the driver assistance level associated with each of the driver assistance applications from which the respective acceleration request values were received;
- select a smallest acceleration request value of the plurality of acceleration request values that were received;
- select a highest driver assistance level of the plurality of driver assistance levels that were received regardless of the driver assistance level of the driver assistance application from which the acceleration request value was selected;
- and
- while outputting a specified value to an actuator of the vehicle, the specified value determined according to the selected acceleration request value, stop the outputting of the specified value to the actuator of the vehicle upon occurrence of the stopping condition that corresponds to the selected driver assistance level.
A control method for a vehicle that includes a plurality of driver assistance applications, the plurality of driver assistance applications providing different driver assistance functions and having different driver assistance levels, a value of the driver assistance level representing a level of autonomous driving provided by the driver assistance application and the value of the driver assistance level being higher as the level of autonomous driving provided by the driver assistance application increases, each of the different driver assistance levels having a different stopping condition at which execution of the driver assistance function corresponding to the driver assistance level is stopped, the stopping condition including one or more of (i) a status of one or more of sensors, actuators and other portions of the vehicle that are required for the vehicle to travel and (ii) a travelling state of the vehicle, the control method being executed by a computer installed in the vehicle, the control method comprising:
- receiving (1) acceleration request values from a plurality of the driver assistance applications, and (2) the driver assistance level associated with each of the driver assistance applications from which the respective acceleration request values were received;
- selecting a smallest acceleration request value of the plurality of acceleration request values that were received;
- selecting a highest driver assistance level of the plurality of driver assistance levels that were received regardless of the driver assistance level of the driver assistance application from which the acceleration request value was selected;
- and
- while outputting a specified value to an actuator of the vehicle, the specified value determined according to the selected acceleration request value, stopping the outputting of the specified value to the actuator of the vehicle upon occurrence of the stopping condition that corresponds to the selected driver assistance level.
A non-transitory storage medium storing commands that are executable by one or more processors in a computer installed in a vehicle that includes a plurality of driver assistance applications, the plurality of driver assistance applications providing different driver assistance functions and having different driver assistance levels, a value of the driver assistance level representing a level of autonomous driving provided by the driver assistance application and the value of the driver assistance level being higher as the level of autonomous driving provided by the driver assistance application increases, each of the different driver assistance levels having a different stopping condition at which execution of the driver assistance function corresponding to the driver assistance level is stopped, the stopping condition including one or more of (i) a status of one or more of sensors, actuators and other portions of the vehicle that are required for the vehicle to travel and (ii) a travelling state of the vehicle, the commands causing the one or more processors to execute the following functions comprising:
- receiving (1) acceleration request values from a plurality of the driver assistance applications, and (2) the driver assistance level associated with each of the driver assistance applications from which the respective acceleration request values were received;
- selecting a smallest acceleration request value of the plurality of acceleration request values that were received;
- selecting a highest driver assistance level of the plurality of driver assistance levels that were received regardless of the driver assistance level of the driver assistance application from which the acceleration request value was selected;
- and
- while outputting a specified value to an actuator of the vehicle, the specified value determined according to the selected acceleration request value, stopping the outputting of the specified value to the actuator of the vehicle upon occurrence of the stopping condition that corresponds to the selected driver assistance level.
Dependencies are inferred from the claim text.