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 control device for controlling a brake of a vehicle, the control device comprising:
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, the arbitrating unit comprising:
(1) a command distributing unit configured to distribute commands to controllers for respectively controlling the actuators based on an arbitration result obtained by the arbitrating unit; and
(2) 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;
request generating units configured to (1) receive the distributed commands from the command distributing unit, (2) generate respective requests for the actuators based on the distributed commands provided from the command distributing unit, and (3) output the generated requests to controllers;
a vehicle motion controller configured to notify the application requesting units of information on an availability of the actuators via the request arbitrating unit; and
a brake controller configured to control operation of brake actuators provided in respective wheels, thereby generating a braking force requested by the request generating unit or the vehicle motion controller.
2. The control device according to claim 1 , wherein the arbitrating unit is configured to arbitrate each of information indicating a front-back motion of the vehicle included in the motion requests and information indicating a lateral motion of the vehicle.
3. The control device according to claim 1 , wherein each of the request generating units is configured to output driving requests to the controllers for controlling the actuators based on the commands distributed by the command distributing unit.
4. The control device according to claim 1 , wherein:
the sensor units include a plurality of wheel speed sensors provided on respective wheels; and
outputs obtained by the wheel speed sensors are directly input to the control device via a signal line.
5. The control device according to claim 1 , wherein the vehicle motion controller configured to preferentially drive the actuators to comprehensively control a driving stability of the vehicle.
6. A control device for controlling a brake of a vehicle, the control device comprising:
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 respectively 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,
wherein, the arbitrating unit, the command distributing unit and the feedback controller are included in the same electronic control unit (ECU) of the control device.
7. The control device according to claim 6 , wherein the arbitrating unit is configured to arbitrate each of information indicating a front-back motion of the vehicle included in the motion requests and information indicating a lateral motion of the vehicle.
8. The control device according to claim 6 , further comprising a request generating unit configured to output driving requests to the controllers for controlling the actuators based on the commands distributed by the command distributing unit.
9. The control device according to claim 6 , wherein:
the sensor units include a plurality of wheel speed sensors provided on respective wheels; and
outputs obtained by the wheel speed sensors are directly input to the control device via a signal line.
10. The control device according to claim 6 , further comprising a vehicle motion controller configured to preferentially drive the actuators to comprehensively control a driving stability of the vehicle.