Manager, electronic control unit, system, control method, storage medium, vehicle, and control apparatus

1. A manager processor comprising:

a first accepting unit that accepts a plurality of kinematic plans from a plurality of ADAS applications;

an arbitration unit that arbitrates the kinematic plans;

a calculation unit that calculates a motion request based on an arbitration result by the arbitration unit; and

a distribution unit that distributes the motion request to at least one actuator system, wherein the first accepting unit accepts information relating to the actuator system to which the distribution unit distributes the motion request from the ADAS applications, along with the kinematic plans,

wherein the at least one actuator system operates according to the motion request.

2. The manager processor according to claim 1 , wherein:

the distribution unit distributes the motion request to the actuator system based on the information; and

the information is information accepted by the first accepting unit along with the kinematic plan employed as a result of arbitration by the arbitration unit.

3. The manager processor according to claim 2 , further comprising a second accepting unit that accepts a driving force lower limit that is able to be generated by the actuator system, wherein, when the kinematic plans accepted by the first accepting unit from the ADAS applications include a kinematic plan that exceeds a guard value based on the driving force lower limit, the arbitration unit replaces the kinematic plan that exceeds the guard value with the guard value, and performs arbitration with a kinematic plan that does not exceed the guard value.

4. The manager processor according to claim 3 , wherein:

the driving force lower limit is a lower limit of driving force that is able to be realized by a powertrain actuator at a current gear ratio; and

the at least one actuator system includes a powertrain system including the powertrain actuator and a brake system including a brake actuator.

5. The manager processor according to claim 1 , wherein the kinematic plan is acceleration.

6. An electronic control unit that is installed in a vehicle and that implements one or more ADAS applications, the electronic control unit comprising

an output unit that outputs, to a manager processor, a kinematic plan of the ADAS application and information regarding an actuator system to be permitted for use to realize the kinematic plan, wherein the actuator system operates according to a motion request.

7. A system comprising:

a plurality of ADAS applications implemented in one or more electronic control units installed in a vehicle; and

a manager processor, wherein:

the one or more electronic control units include an output unit that outputs, to the manager processor, a plurality of kinematic plans requested by the ADAS applications;

the manager processor includes

an accepting unit that accepts the kinematic plans from the ADAS applications,

an arbitration unit that arbitrates the kinematic plans,

a calculation unit that calculates a motion request based on an arbitration result by the arbitration unit, and

a distribution unit that distributes the motion request to at least one actuator system; and

the accepting unit accepts information relating to the actuator system to which the distribution unit distributes the motion request from the ADAS applications, along with the kinematic plans,

wherein the at least one actuator system operates according to the motion request.

8. A control method executed by a computer of a manager processor installed in a vehicle including at least one actuator system, the control method comprising:

accepting each of kinematic plans and information regarding an actuator system to be used to realize the kinematic plans, from a plurality of ADAS applications;

performing arbitration of the kinematic plans;

calculating a motion request based on an arbitration result of the arbitration;

distributing the motion request to the at least one actuator system based on the information; and

operating the at least one actuator system according to the motion request.

9. A computer-readable non-transitory storage medium storing a program that, when executed by a computer of a manager processor installed in a vehicle including at least one actuator system, causes the computer to:

accept each of kinematic plans and information regarding an actuator system to be used to realize the kinematic plans, from a plurality of ADAS applications;

perform arbitration of the kinematic plans;

calculating a motion request based on an arbitration result of the arbitration;

distributing the motion request to the at least one actuator system based on the information; and

operating the at least one actuator system according to the motion request.

10. A vehicle comprising:

a manager processor comprising:

a first accepting unit that accepts a plurality of kinematic plans from a plurality of ADAS applications;

an arbitration unit that arbitrates the kinematic plans;

a calculation unit that calculates a motion request based on an arbitration result by the arbitration unit; and

a distribution unit that distributes the motion request to at least one actuator system, wherein the first accepting unit accepts information relating to the actuator system to which the distribution unit distributes the motion request from the ADAS applications, along with the kinematic plans,

wherein the at least one actuator system operates according to the motion request.

11. A control apparatus installed in a vehicle, the control apparatus comprising one or more processors configured to:

accept a plurality of kinematic plans from a plurality of ADAS applications;

perform arbitration of the kinematic plans;

calculate a motion request based on an arbitration result of the arbitration;

distribute the motion request to at least one actuator system, wherein the one or more processors are configured to accept information relating to the actuator system to which the motion request is distributed, along with the kinematic plans; and

operate the at least one actuator system according to the motion request.