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US-20260125069-A1 - INFORMATION PROCESSING APPARATUS

US20260125069A1US 20260125069 A1US20260125069 A1US 20260125069A1US-20260125069-A1

Abstract

An information processing apparatus includes a receiver configured to receive a data set including a requested acceleration as information representing movement of a vehicle in a front-rear direction and any one of a steering angle, a yaw rate, and a rotation radius as information representing movement of the vehicle in a lateral direction from each of a plurality of applications, an arbitration unit configured to perform arbitration of information representing the movement of the vehicle in the front-rear direction and arbitration of information representing the movement of the vehicle in the lateral direction based on a plurality of the data sets received by the receiver, and a first output unit configured to output instruction information for driving an actuator based on an arbitration result of the arbitration unit.

Inventors

  • Ikuma SUZUKI
  • Wataru KANDA
  • Kaiji Itabashi
  • Yoshihisa Yamada
  • Kazuki MIYAKE
  • Tamotsu KONDOH

Assignees

  • TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date
20260507
Application Date
20260105
Priority Date
20180830

Claims (15)

  1. 1 . An information processing apparatus mounted in a vehicle comprising: an ECU programmed to: receive a plurality of first requests respectively from a plurality of drive assistance applications; arbitrate the plurality of first requests; calculate a second request based on the arbitration, the second request being a different physical quantity of the first requests; distribute the second request to at least one of a plurality of actuator systems; and inform at least one of the drive assistance applications of a limit value of an acceleration that is able to be realized.
  2. 2 . The vehicle comprising the information processing apparatus of claim 1 .
  3. 3 . A manager mounted in a vehicle comprising: an ECU programmed to: receive a plurality of first requests respectively from a plurality of Advanced Driver Assistance Systems (ADAS) applications; arbitrate the plurality of first requests; calculate a second request based on the arbitration, the second request being a different physical quantity of the first requests; distribute the second request to at least one of a plurality of actuator systems; and inform at least one of the ADAS applications of an upper limit and a lower limit of a longitudinal acceleration that is able to be realized.
  4. 4 . The vehicle comprising the manager of claim 3 .
  5. 5 . A system comprising: a plurality of actuator systems; and an information processing apparatus mounted in a vehicle, the information processing apparatus including an ECU programmed to: receive a plurality of first requests respectively from a plurality of ADAS applications; arbitrate the plurality of first requests; calculate a second request based on the arbitration, the second request being a different physical quantity of the first requests; distribute the second request to at least one of the plurality of actuator systems; and inform at least one of the ADAS applications of an upper limit and a lower limit of a longitudinal acceleration that is able to be realized.
  6. 6 . The vehicle comprising the system of claim 5 .
  7. 7 . A control method performed by an ECU mounted in a vehicle, the method comprising: receiving a plurality of first requests respectively from a plurality of ADAS applications; arbitrating the plurality of first requests; calculating a second request based on the arbitration, the second request being a different physical quantity of the first requests; distributing the second request to at least one of a plurality of actuator systems; and informing at least one of the ADAS applications of an upper limit and a lower limit of a longitudinal acceleration that is able to be realized.
  8. 8 . The information processing apparatus of claim 1 , wherein a driver requested acceleration is not included in the plurality of first requests.
  9. 9 . The manager of claim 3 , wherein a driver requested acceleration is not included in the plurality of first requests.
  10. 10 . The system of claim 5 , wherein a driver requested acceleration is not included in the plurality of first requests.
  11. 11 . The method of claim 7 , wherein a driver requested acceleration is not included in the plurality of first requests.
  12. 12 . The information processing apparatus of claim 1 , wherein the ECU is programmed to: select one of the drive assistance applications; and inform at least one of the drive assistance applications that is not the selected drive assistance application of the selected drive assistance application.
  13. 13 . The manager of claim 3 , further comprising: selecting one of the ADAS applications; and informing at least one of the ADAS applications that is not the selected ADAS application of the selected ADAS application
  14. 14 . The system of claim 5 , wherein the ECU is programmed to: select one of the ADAS applications; and inform at least one of the ADAS applications that is not the selected ADAS application of the selected ADAS application.
  15. 15 . The method of claim 7 , further comprising: selecting one of the ADAS applications; and informing at least one of the ADAS applications that is not the selected ADAS application of the selected ADAS application.

Description

CROSS REFERENCE TO RELATED APPLICATIONS This application is a continuation of U.S. application Ser. No. 18/405,390 filed Jan. 5, 2024, which is a continuation of U.S. application Ser. No. 18/110,107 filed Feb. 15, 2023, which is a continuation of U.S. application Ser. No. 16/422,265 filed May 24, 2019, which claims the benefit of Japanese Patent Application No. 2018-161528 filed on Aug. 30, 2018 including the specification, drawings and abstract is incorporated herein by reference in its entirety. BACKGROUND 1. Technical Field The present disclosure relates to an information processing apparatus that controls movement of a vehicle. 2. Description of Related Art Japanese Unexamined Patent Application Publication No. 2007-120352 (JP 2007-120352 A) describes a control device for a vehicle including arbitration means for arbitrating a drive request to an engine based on a driver operation and a drive request from a driving assistance system to the engine. The arbitration means described in JP 2007-120352 A performs arbitration after converting a target value of the drive request based on the driver operation and a target value of the drive request based on an operation other than the driver operation to the same physical quantity. The arbitration means holds a target value before converting the physical quantity. As a result of the arbitration, in a case where there is a need to inversely convert a selected target value to an original physical quantity, the arbitration means calculates a target control amount of the engine using the held target value, thereby avoiding errors due to the conversion and inverse conversion of the physical quantity or reduction in the number of significant digits. SUMMARY In recent years, a driving assistance system (driving assistance application) that is mounted in a vehicle, such as autonomous driving or automatic parking, is increasing. When the types of driving assistance systems increase, a drive request to one actuator also increases. For this reason, in the method described in JP 2007-120352 A, arbitration processing becomes complicated. The disclosure provides an information processing apparatus capable of easily executing arbitration processing of drive requests output from driving assistance applications. An aspect of the disclosure relates to an information processing apparatus that arbitrates requests from a plurality of applications implementing driving assistance functions to an actuator. The information processing apparatus includes a receiver, an arbitration unit, and a first output unit. The receiver is configured to receive a data set including a requested acceleration as information representing movement of a vehicle in a front-rear direction and any one of a steering angle, a yaw rate, and a rotation radius as information representing movement of the vehicle in a lateral direction from each of the applications. The arbitration unit is configured to perform arbitration of the information representing the movement of the vehicle in the front-rear direction and arbitration of the information representing the movement of the vehicle in the lateral direction based on a plurality of the data sets received by the receiver. The first output unit is configured to output instruction information for driving the actuator based on an arbitration result of the arbitration unit. In the information processing apparatus according to the aspect, the data set received by the receiver may include information designating whether the information representing the movement of the vehicle in the lateral direction is the steering angle, the yaw rate, or the rotation radius. In the information processing apparatus according to the aspect, the requested acceleration may include an upper limit requested acceleration and a lower limit requested acceleration. The arbitration unit may be configured to execute arbitration of the upper limit requested acceleration and arbitration of the lower limit requested acceleration in the arbitration of the information representing the movement of the vehicle in the front-rear direction. The information processing apparatus according to the aspect may further include a second output unit configured to output result information including the arbitration result of the arbitration unit to the applications. In the information processing apparatus according to the aspect, the second output unit may be configured to output the result information further including at least one of information representing a current state of movement control of the vehicle and information representing a range of movement control currently implementable by the vehicle to the applications. In the information processing apparatus according to the aspect, the first output unit may be configured to convert the requested acceleration selected by the arbitration unit to power and output the instruction information including the converted power to a controller of the actuator. According to