Control device for vehicle, manager, method, non-transitory storage medium, and vehicle

1. A control device to be mounted on a vehicle, the control device comprising:

a memory configured to store information related to priority levels of a plurality of applications configured to implement driving assistance functions; and

a processor configured to:

receive, from the applications, application requests and identifiers that identify the respective applications;

arbitrate a plurality of the application requests based on the information and the identifiers; and

output a request to an actuator that controls a movement of the vehicle based on a result of arbitration of the application requests.

2. The control device according to claim 1 , wherein the application requests are requests related to a lateral motion of the vehicle.

3. The control device according to claim 2 , wherein:

the driving assistance functions to be implemented by the applications include an autonomous driving function and a collision avoidance assistance function; and

in the information, a priority level of an application configured to implement the collision avoidance assistance function is set higher than a priority level of an application configured to implement the autonomous driving function.

4. The control device according to claim 3 , wherein:

the driving assistance functions to be implemented by the applications further include a lane keeping assistance function, and

in the information, the priority level of the application configured to implement the autonomous driving function is set higher than a priority level of an application configured to implement the lane keeping assistance function.

5. The control device according to claim 1 , wherein the processor is configured to change the priority levels in the information based on a condition of the vehicle or a condition of a driver, and arbitrate the application requests based on the changed priority levels.

6. A manager device comprising:

a receiver configured to receive application identifications and kinematic plan requests from a plurality of devices having functions of advanced driver assistance system applications;

a storage configured to store information related to priority levels of a plurality of the application identifications;

an arbitrator configured to arbitrate a plurality of the kinematic plan requests received by the receiver based on the information; and

an outputter configured to output a motion request to an actuator that controls a movement of a vehicle based on a result of arbitration performed by the arbitrator.

7. A control method to be executed by a computer of a control device to be mounted on a vehicle, the control method comprising:

receiving, from a plurality of applications configured to implement driving assistance functions, application requests and identifiers that identify the respective applications;

arbitrating a plurality of the application requests received in the receiving based on the identifiers and information related to priority levels of the applications and stored in a predetermined storage; and

outputting a request to an actuator that controls a movement of the vehicle based on a result of arbitration in the arbitrating.

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

receiving, from a plurality of applications configured to implement driving assistance functions, application requests and identifiers that identify the respective applications;

arbitrating a plurality of the application requests received in the receiving based on the identifiers and information related to priority levels of the applications and stored in a predetermined storage; and

outputting a request to an actuator that controls a movement of the vehicle based on a result of arbitration in the arbitrating.

9. A vehicle comprising the control device according to claim 1 .

10. The control device according to claim 1 , wherein the processor is configured to arbitrate the plurality of the application requests by preferentially selecting an application of the plurality of applications having a higher control range velocity that is a vehicle velocity in a range in which control is applied.