Motion manager, vehicle, vehicle control method, and non-transitory storage medium

1 . A motion manager configured to request motion of a vehicle according to a kinematic plan on driver assistance of the vehicle to at least one of a plurality of actuators provided in the vehicle, the motion manager comprising one or more processors configured to:

arbitrate a plurality of kinematic plans respectively set in a plurality of applications;

calculate a motion request to the vehicle based on an arbitration result of the kinematic plans;

distribute the motion request to at least one of the actuators; and

transmit, to each of the applications, a plurality of fail classes respectively indicating operating states of the actuators, wherein

when an abnormality occurs in at least one of the actuators, the fail classes, which are transmitted to each of the applications, include additional information transmitted from an actuator where the abnormality occurs, the additional information being used for setting an operation of an application corresponding to the abnormality from among the applications and including at least one of information indicating a vehicle velocity range influenced by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after occurrence of the abnormality.

2 . The motion manager according to claim 1 , wherein the additional information for setting the operation of the application corresponding to the abnormality includes each of the information indicating the vehicle velocity range influenced by the abnormality, the information indicating the portion in which the abnormality occurs, and the information indicating the operation mode after occurrence of the abnormality.

3 . The motion manager according to claim 1 , wherein the portion in which the abnormality occurs includes communication between the actuators.

4 . The motion manager according to claim 1 , wherein the one or more processors are configured to transmit, to at least the application corresponding to the abnormality from among the applications, information indicating a function in which the abnormality occurs along with the additional information for setting the operation of the application corresponding to the abnormality.

5 . The motion manager according to claim 1 , wherein the one or more processors are further configured to:

generate the plurality of fail classes; and

add the additional information to the generated fail classes when the abnormality occurs in the at least one of the actuators.

6 . The motion manager according to claim 5 , wherein the one or more processors are further configured to:

acquire reliability information about a reliability of each of the actuators; and

use the acquired reliability information to:

generate the plurality of fail classes,

determine whether the abnormality occurs in the at least one of the actuators, based on the acquired reliability information, and

add the additional information to the generated fail classes.

7 . The motion manager according to claim 1 , wherein the one or more processors are further configured to:

acquire the plurality of fail classes respectively from the plurality of actuators; and

add the additional information to the acquired fail classes when the abnormality occurs in the at least one of the actuators.

8 . The motion manager according to claim 1 , wherein:

the one or more processors are further configured to acquire the plurality of fail classes respectively from the plurality of actuators; and

the acquired fail classes include the additional information when the abnormality occurs in the at least one of the actuators.

9 . A vehicle comprising:

a driver assistance system including a plurality of applications configured to independently set each of a plurality of kinematic plans on driver assistance of the vehicle; and

a motion manager comprising one or more processors configured to:

request motion of the vehicle according to the kinematic plan set in at least one of the applications to at least one of a plurality of actuators provided in the vehicle; and

transmit, to each of the applications, a plurality of fail classes respectively indicating operating states of the actuators, wherein

when an abnormality occurs in at least one of the actuators, the fail classes, which are transmitted to each of the applications, include additional information transmitted from an actuator where the abnormality occurs, the additional information being used for setting an operation of an application corresponding to the abnormality from among the applications and including at least one of information indicating a vehicle velocity range influenced by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after occurrence of the abnormality.

10 . The vehicle according to claim 9 , wherein the additional information for setting the operation of the application corresponding to the abnormality includes each of the information indicating the vehicle velocity range influenced by the abnormality, the information indicating the portion in which the abnormality occurs, and the information indicating the operation mode after occurrence of the abnormality.

11 . The vehicle according to claim 9 , wherein the portion in which the abnormality occurs includes communication between the actuators.

12 . The vehicle according to claim 9 , wherein the motion manager is configured to transmit, to at least the application corresponding to the abnormality from among the applications, information indicating a function in which the abnormality occurs along with the additional information for setting the operation of the application corresponding to the abnormality.

13 . A vehicle control method executed by a computer, the vehicle control method comprising:

receiving a plurality of kinematic plans from a plurality of applications configured to set the kinematic plans on driver assistance of a vehicle;

arbitrating the received kinematic plans;

calculating a motion request to the vehicle based on an arbitration result of the kinematic plans;

distributing the motion request to at least one of a plurality of actuators provided in the vehicle; and

transmitting, to each of the applications, a plurality of fail classes respectively indicating operating states of the actuators, wherein

when an abnormality occurs in at least one of the actuators, the fail classes, which are transmitted to each of the applications, include additional information transmitted from an actuator where the abnormality occurs, the additional information being used for setting an operation of an application corresponding to the abnormality from among the applications and including at least one of information indicating a vehicle velocity range influenced by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after occurrence of the abnormality.

14 . A non-transitory storage medium storing instructions that are executable by a computer and that cause the computer to execute functions comprising:

receiving a plurality of kinematic plans from a plurality of applications configured to set the kinematic plans on driver assistance of a vehicle;

arbitrating the received kinematic plans;

calculating a motion request to the vehicle based on an arbitration result of the kinematic plans;

distributing the motion request to at least one of a plurality of actuators provided in the vehicle; and

transmitting, to each of the applications, a plurality of fail classes respectively indicating operating states of the actuators, wherein

when an abnormality occurs in at least one of the actuators, the fail classes, which are transmitted to each of the applications, include additional information transmitted from an actuator where the abnormality occurs, the additional information being used for setting an operation of the application corresponding to the abnormality from among the applications and including at least one of information indicating a vehicle velocity range influenced by the abnormality, information indicating a portion in which the abnormality occurs, and information indicating an operation mode after occurrence of the abnormality.