Vehicle, motion manager, and motion request correction method
A vehicle includes a driving support system that sets an action plan for driving support of the vehicle, a motion manager including one or more processors that arbitrate a plurality of action plans set by the driving support system, and an actuator system to which a motion request generated using a result of arbitration by the motion manager is distributed. The one or more processors of the motion manager predicts a total weight of the vehicle and a position of a center of gravity of the vehicle, and correct the motion request based on the predicted total weight and the predicted position of the center of gravity.
1 . A vehicle comprising:
a driving support system configured to set an action plan for driving support of the vehicle;
a motion manager including one or more processors configured to arbitrate a plurality of action plans set by the driving support system; and
an actuator system to which a motion request generated using a result of arbitration by the motion manager is distributed, wherein
the one or more processors of the motion manager are configured to:
predict at least one of a total weight of the vehicle and a position of a center of gravity of the vehicle; and
correct the motion request based on the at least one of the predicted total weight and the predicted position of the center of gravity such that an influence of the total weight and the position of the center of gravity on traveling of the vehicle is reduced,
the actuator system moves the vehicle according to the corrected motion request,
the one or more processors of the motion manager are further configured to:
set a travel route to a destination such that a traveling point where the influence of the total weight and the position of the center of gravity on traveling of the vehicle is reduced is included in the travel route, and
predict the at least one of the total weight and the position of the center of gravity when the vehicle is traveling at the traveling point where the influence on the traveling of the vehicle is reduced,
the travel route is set based on the number of the traveling points on the travel route such that the vehicle is moved through a plurality of the traveling points located along different road segments along the travel route at which the at least one of the total weight and the position of the center of gravity is predicted, and
the one or more processors of the motion manager predict the at least one of the total weight and the position of the center of gravity based only on information received from in-vehicle devices.
2 . The vehicle according to claim 1 , further comprising:
a vehicle body at which a cargo compartment is formed in which at least one piece of cargo is accommodated; and
a first vehicle-side communication device provided in the cargo compartment, wherein:
the first vehicle-side communication device is configured to communicate with a first cargo-side communication device attached to the piece of cargo; and
the one or more processors of the motion manager are configured to:
predict an arrangement of the piece of cargo in the cargo compartment based on a communication state between the first cargo-side communication device and the first vehicle-side communication device; and
predict the at least one of the total weight and the position of the center of gravity based on the predicted arrangement of the piece of cargo.
3 . The vehicle according to claim 2 , wherein:
the cargo compartment accommodates a plurality of pieces of cargo to each of which the first cargo-side communication device is attached; and
the first vehicle-side communication device is configured to acquire, through the first cargo-side communication device, information indicating that the first cargo-side communication devices of the pieces of cargo that are adjacent to each other communicate with each other.
4 . The vehicle according to claim 2 , further comprising a second vehicle-side communication device configured to communicate with a second cargo-side communication device attached to the piece of cargo, wherein:
the second vehicle-side communication device is configured to acquire, through the second cargo-side communication device, information indicating a weight of the piece of cargo to which the second cargo-side communication device is attached; and
the one or more processors of the motion manager are configured to predict the at least one of the total weight and the position of the center of gravity based on the predicted arrangement of the piece of cargo and the acquired information indicating the weight of the piece of cargo.
5 . The vehicle according to claim 1 , further comprising:
a vehicle body at which a cargo compartment is formed in which a piece of cargo is accommodated; and
a camera provided in the cargo compartment, wherein:
the camera is configured to read position information of the piece of cargo and a code attached to the piece of cargo and indicating weight information of the piece of cargo, and
the one or more processors of the motion manager are configured to predict the at least one of the total weight and the position of the center of gravity based on the position information of the piece of cargo acquired by the camera and the weight information acquired by the camera from the code.
6 . The vehicle according to claim 1 , further comprising:
a vehicle body at which a cargo compartment is formed in which a piece of cargo is accommodated; and
a first weight sensor provided in the cargo compartment, wherein:
the first weight sensor is configured to detect a weight of the piece of cargo accommodated in the cargo compartment, and
the one or more processors of the motion manager are configured to predict the at least one of the total weight and the position of the center of gravity based on the weight of the piece of cargo detected by the first weight sensor.
7 . The vehicle according to claim 1 , further comprising:
a seat; and
a second weight sensor provided in the seat, wherein
the one or more processors of the motion manager are configured to predict the at least one of the total weight and the position of the center of gravity based on a weight detected by the second weight sensor.
8 . The vehicle according to claim 1 , wherein the one or more processors of the motion manager are configured to:
determine whether the position of the center of gravity of the vehicle is displaced with respect to a center of the vehicle; and
add, upon determining that the position of the center of gravity is displaced with respect to the center, a correction value for reducing a moment of inertia caused by displacement of the center of gravity to the motion request.
9 . The vehicle according to claim 1 , wherein the one or more processors of the motion manager are configured to:
determine whether the position of the center of gravity of the vehicle is displaced at least in a front-rear direction with respect to a center of the vehicle; and
correct, upon determining that the position of the center of gravity is displaced in one of a front and a rear with respect to the center, the motion request such that a braking force applied to a wheel of the one of the front and the rear of the vehicle is increased compared to when the center of gravity is located at the center.
10 . The vehicle according to claim 1 , further comprising an angular acceleration sensor configured to detect angular acceleration of the vehicle, wherein
the one or more processors of the motion manager are configured to correct the motion request based on the angular acceleration detected by the angular acceleration sensor.
11 . A motion manager comprising:
one or more processors configured to:
arbitrate a plurality of action plans for driving support of a vehicle set by a driving support system of the vehicle;
calculate a motion request based on a result of arbitration;
distribute the motion request to an actuator system of the vehicle;
predict at least one of a total weight of the vehicle and a position of a center of gravity of the vehicle;
correct the motion request based on the at least one of the predicted total weight and the predicted position of the center of gravity such that an influence of the total weight and the position of the center of gravity on traveling of the vehicle is reduced; and
transmit a request signal to the actuator system such that the actuator system moves the vehicle according to the corrected motion request, wherein
the one or more processors are further configured to:
set a travel route to a destination such that a traveling point where the influence of the total weight and the position of the center of gravity on traveling of the vehicle is reduced is included in the travel route; and
predict the at least one of the total weight and the position of the center of gravity when the vehicle is traveling at the traveling point where the influence on the traveling of the vehicle is reduced,
the travel route is set based on the number of the traveling points on the travel route such that the vehicle is moved through a plurality of the traveling points located along different road segments along the travel route at which the at least one of the total weight and the position of the center of gravity is predicted, and
the one or more processors predict the at least one of the total weight and the position of the center of gravity based only on information received from in-vehicle devices.
12 . A motion request correction method comprising:
arbitrating a plurality of action plans for driving support of a vehicle set by a driving support system of the vehicle;
calculating a motion request to be distributed to an actuator system of the vehicle based on a result of arbitration;
predicting at least one of a total weight of the vehicle and a position of a center of gravity of the vehicle;
correcting the calculated motion request based on the at least one of the total weight and the position of the center of gravity which has been predicted, such that an influence of the total weight and the position of the center of gravity on traveling of the vehicle is reduced;
distributing the corrected motion request to the actuator system; and
moving the vehicle according to the corrected motion request, wherein
the predicting includes
setting a travel route to a destination such that a traveling point where the influence of the total weight and the position of the center of gravity on traveling of the vehicle is reduced is included in the travel route, and
predicting the at least one of the total weight and the position of the center of gravity when the vehicle is traveling at the traveling point where the influence on the traveling of the vehicle is reduced,
the travel route is set based on the number of the traveling points on the travel route such that the vehicle is moved through a plurality of the traveling points located along different road segments along the travel route at which the at least one of the total weight and the position of the center of gravity is predicted, and
the at least one of the total weight and the position of the center of gravity is predicted based only on information received from in-vehicle devices.