Control device
A control device for controlling a brake of a vehicle includes an arbitrating unit configured to receive motion requests for a plurality of actuators, which are used for controlling a motion of the vehicle, from a plurality of application requesting units related to driving support functions and to arbitrate the received motion requests, a command distributing unit configured to distribute commands to controllers for controlling the actuators based on an arbitration result obtained by the arbitrating unit, and a feedback controller configured to feed back a control record value indicating the motion of the vehicle, which is measured by using sensor units, to the application requesting units and to realize the motion of the vehicle requested by the application requesting units.
1 . A brake electronic control unit (“ECU”) for controlling a brake actuator of a vehicle, wherein the brake ECU is configured to:
control the brake actuator;
receive a plurality of first requests respectively from a plurality of driver assistance applications external to the brake ECU, the plurality of first requests being requests for controlling a motion of the vehicle such that each of the driver assistance applications realizes a respective driving support function;
arbitrate the plurality of first requests;
calculate a second request based on a result of the arbitration, the second request being a different physical quantity from the first requests; and
distribute the second request to one or more actuator systems.
2 . The brake ECU according to claim 1 , wherein the brake ECU is a component of a control device for controlling the brake actuator of the vehicle.
3 . The brake ECU according to claim 1 , wherein the brake ECU is a component of a system comprising:
the one or more actuator systems including the brake actuator of the vehicle; and
the brake ECU.
4 . The brake ECU according to claim 1 , wherein the brake ECU is a component of a vehicle comprising:
the brake actuator; and
the brake ECU.
5 . A brake electronic control unit (“ECU”) for controlling a brake actuator of a vehicle, wherein the brake ECU is configured to:
control the brake actuator;
receive a plurality of kinematic plans respectively from a plurality of driver assistance applications external to the brake ECU, the plurality of kinematic plans being plans for controlling a motion of the vehicle such that each of the driver assistance applications realizes a respective driving support function;
arbitrate the plurality of kinematic plans;
calculate a motion request based on a result of the arbitration, the motion request being a different physical quantity from the kinematic plans; and
distribute the motion request to one or more actuator systems.
6 . The brake ECU according to claim 5 , wherein the brake ECU is a component of a control device for controlling the brake actuator of the vehicle.
7 . The brake ECU according to claim 5 , wherein the brake ECU is a component of a system comprising:
the one or more actuator systems including the brake actuator of the vehicle; and
the brake ECU.
8 . The brake ECU according to claim 5 , wherein the brake ECU is a component of a vehicle comprising:
the brake actuator; and
the brake ECU.
9 . A control method performed by a brake electronic control unit (“ECU”) for controlling a brake actuator of a vehicle, the method comprising
controlling the brake actuator;
receiving a plurality of first requests respectively from a plurality of driver assistance applications external to the brake ECU, the plurality of first requests being requests for controlling a motion of the vehicle such that each of the driver assistance applications realizes a respective driving support function;
arbitrating the plurality of first requests;
calculating a second request based on a result of the arbitration, the second request being a different physical quantity from the first requests; and
distributing the second request to one or more actuator systems.
10 . A control method performed by a brake electronic control unit (“ECU”) for controlling a brake actuator of a vehicle, the method comprising
controlling the brake actuator;
receiving a plurality of kinematic plans respectively from a plurality of driver assistance applications external to the brake ECU, the plurality of kinematic plans being plans for controlling a motion of the vehicle such that each of the driver assistance applications realizes a respective driving support function;
arbitrating the plurality of kinematic plans;
calculating a motion request based on a result of the arbitration, the motion request being a different physical quantity from the kinematic plans; and
distribute the motion request to one or more actuator systems.