Brake control device, vehicle, and storage medium

1 . A brake control device comprising one or more processors configured to control a brake device of a vehicle, wherein:

the one or more processors are configured to

receive a first braking request indicating a first braking force by the brake device which is requested from an application that implements a driver assistance function of the vehicle,

receive a second braking request indicating a second braking force by the brake device which is requested depending on an operation amount of a brake pedal of the vehicle, and

start override control, when the one or more processors receive the second braking request while the one or more processors control the brake device in accordance with the first braking request; and

the override control includes:

determining a larger one of (i) the first braking force at present and (ii) a sum of the second braking force at present and the first braking force at a time when the override control is started, as an override braking force, and

setting the determined override braking force, as a first requested braking force for the brake device.

2 . The brake control device according to claim 1 , wherein the override control further includes setting a braking force which is larger than the first requested braking force at a time when the second braking force started to increase, as a second requested braking force for the brake device, during a period in which the second braking force increases after the first braking force is set as the first requested braking force.

3 . The brake control device according to claim 1 , wherein the override control further includes:

in response to setting the first braking force at present as a first requested braking force for brake device,

calculating an additional requested braking force by subtracting the second braking force from the first requested braking force; and then

setting a value obtained by adding the second braking force to the additional requested braking force, as second requested braking force for the brake device, during a period in which the second braking force increases after the first braking force is set as the first requested braking force.

4 . The brake control device according to claim 1 , wherein the one or more processors are further configured to arbitrate motion requests requested from applications.

5 . The brake control device according to claim 4 , wherein:

the one or more processors are configured to function as a motion manager and a control unit;

when the one or more processors function as the motion manager, the one or more processors arbitrate the motion requests requested from the applications, before outputting the first braking request; and

when the one or more processors function as the control unit, the one or more processors receive the first braking request and the second braking request, and perform the override control.

6 . The vehicle comprising:

the brake control device according to claim 1 ; and

the brake device that generates braking force corresponding to the first requested braking force.

7 . The brake control device according to claim 1 , wherein the one or more processors are configured to repeatedly calculate an additional requested braking force during the override control.

8 . The brake control device according to claim 1 , wherein the one or more processors are configured to:

in response to setting the sum of the second braking force at the present and the first braking force at the time when the override control is started, as the first requested braking force:

determine whether the second braking force is maintained or increased;

in response to determining that the second braking force is not maintained and not increased, set an additional requested braking force to a value obtained by subtracting a subtraction variable from a previous value of the additional requested braking force; and

in response to determining that the second braking force is maintained or increased, set the additional requested braking force to a same value as a previous value.

9 . The brake control device according to claim 8 , wherein the subtraction variable is equal to a decrease amount in the second braking force per unit time.

10 . A non-transitory computer readable storage medium storing instructions that are executable by one or more processors that control a brake device of a vehicle, and that cause the one or more processors to perform functions comprising:

receiving a first braking request indicating a first braking force by the brake device which is requested from an application that implements a driver assistance function of the vehicle;

receiving a second braking request indicating a second braking force by the brake device which is requested depending on an operation amount of a brake pedal of the vehicle; and

starting override control, when the second braking request is received while the brake device is controlled in accordance with the first braking request,

wherein the override control includes:

determining a larger one of (i) the first braking force at present and (ii) a sum of the second braking force at present and the first braking force at a time when the override control is started, as an override braking force, and

setting the determined override braking force, as a requested braking force for the brake device.