Vehicle control system

A control device mounted on a vehicle, the control device comprising:

• a reception unit configured to receive a first request from a plurality of driving assistance systems;
• an arbitration unit configured to arbitrate a plurality of the first requests;
• a calculation unit configured to calculate a second request including identification information of an application mounted on the driving assistance system based on an arbitration result by the arbitration unit;
• and
• a distribution unit configured to distribute the second request to at least one of a plurality of actuator systems configured to acquire the first request from the driving assistance system without the control device.

A manager mounted on a vehicle, the manager comprising:

• a reception unit configured to receive a kinematic plan from a plurality of advanced driver assistance system applications;
• an arbitration unit configured to arbitrate a plurality of the kinematic plans;
• a calculation unit configured to calculate a motion request including identification information of the advanced driver assistance system application based on an arbitration result by the arbitration unit;
• and
• a distribution unit configured to distribute the motion request to at least one of a plurality of actuator systems configured to acquire the kinematic plan from the advanced driver assistance system application without the manager.

A manager mounted on a vehicle, the manager comprising:

• a reception unit configured to receive a first request from a plurality of advanced driver assistance system applications;
• an arbitration unit configured to arbitrate a plurality of the first requests;
• a calculation unit configured to calculate a second request including identification information of the advanced driver assistance system application based on an arbitration result by the arbitration unit;
• and
• a distribution unit configured to distribute the second request to at least one of a plurality of actuator systems configured to acquire the first request from the advanced driver assistance system application without the manager.

A method executed by a computer of a manager mounted on a vehicle, the method comprising:

• receiving a kinematic plan from a plurality of advanced driver assistance system applications;
• performing an arbitration of a plurality of the kinematic plans;
• calculating a motion request including identification information of the advanced driver assistance system application based on a result of the arbitration;
• and
• distributing the motion request to at least one of a plurality of actuator systems configured to acquire the kinematic plan from the advanced driver assistance system application without the manager.

A non-transitory storage medium storing instructions that are executable by a computer of a manager mounted on a vehicle and that cause the manager to perform functions comprising:

• receiving a kinematic plan from a plurality of advanced driver assistance system applications;
• performing an arbitration of a plurality of the kinematic plans;
• calculating a motion request including identification information of the advanced driver assistance system application based on a result of the arbitration;
• and
• distributing the motion request to at least one of a plurality of actuator systems configured to acquire the kinematic plan from the advanced driver assistance system application without the manager.

An actuator system mounted on a vehicle, the actuator system comprising:

• a manager that includes
• a reception unit configured to receive a kinematic plan from a plurality of advanced driver assistance system applications,
• an arbitration unit configured to arbitrate a plurality of the kinematic plans;
• a calculation unit configured to calculate a motion request including identification information of the advanced driver assistance system application based on an arbitration result by the arbitration unit, and
• a distribution unit configured to distribute the motion request to at least one of a plurality of actuator systems;
• and
• a communication unit configured to receive the identification information of the advanced driver assistance system application from the manager wherein
• the communication unit is configured to acquire the kinematic plan from the advanced driver assistance system application without the manager.