Vehicle controls supporting multiple ads ecus

A process comprising:

• operating a plurality of automated driving system electronic control units (ADS ECUs) to perform the acts of determining vehicle motion control (VMC) commands in response to input from one or more vehicle environment sensors and transmitting messages including the VMC commands over one or more communication links;
• and
• operating an execution authority electronic control unit (EA ECU) configured with execution authority over one or more VMC commands to perform the acts of:
• receiving via the one or more communication links a first message transmitted by a first one of the plurality of ADS ECUs and including a first VMC command and a second message transmitted by a second one of the plurality of ADS ECUs and including a second VMC command,
• selecting one of the first VMC command and the second VMC command in response to an arbitration based upon information of the first message and the second message, and
• controlling motion of the vehicle system using the selected one of the first VMC command and the second VMC command.

An apparatus comprising:

• an electronic control system including one or more non-transitory memory media configured to store instructions executable by one or more processors to:
• operate a plurality of automated driving system electronic control units (ADS ECUs) to determine vehicle motion control (VMC) commands in response to input from one or more vehicle environment sensors and transmit messages including the VMC commands over one or more communication links;
• and
• operate an execution authority electronic control unit (EA ECU) configured with execution authority over one or more VMC commands to:
• receive via the one or more communication links a first message transmitted by a first one of the plurality of ADS ECUs and including a first VMC command and a second message transmitted by a second one of the plurality of ADS ECUs and including a second VMC command,
• select one of the first VMC command and the second VMC command in response to an arbitration based upon information of the first message and the second message, and
• control motion of the vehicle system using the selected one of the first VMC command and the second VMC command.