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US-20260125083-A1 - MOTION MANAGER, AUTONOMOUS DRIVING APPARATUS, AND CONTROL SYSTEM

US20260125083A1US 20260125083 A1US20260125083 A1US 20260125083A1US-20260125083-A1

Abstract

A motion manager includes one or more processors. The one or more processors are configured to receive a plurality of kinematic plans respectively from a plurality of systems, arbitrate the received plurality of kinematic plans, and distribute a motion request, set based on arbitrating the received plurality of kinematic plans, to at least one of a plurality of actuators. The plurality of systems include a first system and a second system. The one or more processors are configured to receive, from the first system, request information requesting that a first kinematic plan set in the first system be selected with priority over a second kinematic plan set in the second system.

Inventors

  • Hiroshi Ueno

Assignees

  • TOYOTA JIDOSHA KABUSHIKI KAISHA

Dates

Publication Date
20260507
Application Date
20251230
Priority Date
20211130

Claims (13)

  1. 1 . A motion manager comprising: one or more processors configured to: receive a plurality of kinematic plans respectively from a plurality of systems; arbitrate the received plurality of kinematic plans; and distribute a motion request, set based on arbitrating the received plurality of kinematic plans, to at least one of a plurality of actuators, wherein the plurality of systems include a first system and a second system, and the one or more processors are configured to receive, from the first system, request information requesting that a first kinematic plan set in the first system be selected with priority over a second kinematic plan set in the second system.
  2. 2 . The motion manager according to claim 1 , wherein the request information includes information requesting invalidation of the second kinematic plan set in the second system.
  3. 3 . The motion manager according to claim 1 , wherein the request information includes information requesting to give the first kinematic plan set in the first system a higher priority than the second kinematic plan set in the second system.
  4. 4 . The motion manager according to claim 1 , wherein the one or more processors are configured to arbitrate the plurality of kinematic plans according to the received request information.
  5. 5 . The motion manager according to claim 1 , wherein the one or more processors are configured to output information on the request information to the second system.
  6. 6 . The motion manager according to claim 1 , wherein the plurality of systems further include a third system that is different from the first system and the second system and is configured to set a kinematic plan that is not prioritized over the first kinematic plan.
  7. 7 . The motion manager according to claim 6 , further comprising a storage configured to store information on at least one of the second system and the third system.
  8. 8 . The motion manager according to claim 6 , wherein: the first system includes an autonomous driving system, and each of the second system and the third system includes a system mounted on a vehicle.
  9. 9 . The motion manager according to claim 6 , wherein: the first system includes an autonomous driving system, and the second system and the third system include at least one of a plurality of driving assistance systems.
  10. 10 . The motion manager according to claim 6 , wherein the third system includes a system configured to comply with a law.
  11. 11 . The motion manager according to claim 1 , wherein the second system includes a system configured to assist driving by a driver of a vehicle.
  12. 12 . The motion manager according to claim 1 , wherein the one or more processors are configured to receive the request information from the first system during autonomous driving of a vehicle, and to not receive the request information from the first system during manual driving of the vehicle.
  13. 13 . A system is configured to transmit request information requesting that a kinematic plan set by the system itself be selected with priority over a kinematic plan set by another system to a motion manager, the motion manager comprising one or more processors configured to: receive a plurality of kinematic plans respectively from a plurality of systems; arbitrate the received plurality of kinematic plans; and distribute a motion request, set based on a result of arbitrating the received plurality of kinematic plans, to at least one of a plurality of actuators.

Description

CROSS-REFERENCE TO RELATED APPLICATION This application is a Continuation of U.S. Patent Application No. 17/976,980 filed October 31, 2022, which claims priority to Japanese Patent Application No. 2021-194275 filed on November 30, 2021. Each prior application is incorporated herein by reference in its entirety. BACKGROUND 1. Technical Field The present disclosure relates to a motion manager, an autonomous driving apparatus, and a control system. 2. Description of Related Art A vehicle is well-known which is composed of a plurality of applications that set and request kinematic plans on driver assistance of the vehicle, a motion manager that unifies a plurality of kinematic plans from the plurality of applications and sets motion requests based on the unified kinematic plan, and an actuator system that realizes the set motion requests. In this vehicle, for example, when unifying the kinematic plans requested from each of the applications to the motion manager, a request value that satisfies a predetermined condition may be selected from among a plurality of request values. For example, Japanese Unexamined Patent Application Publication No. 2020-032894 discloses a technique for selecting the minimum value from among a plurality of accelerations requested from applications on autonomous driving or on various kinds of driver assistance. SUMMARY In the above-described vehicle, in a case where there is a plurality of applications that set kinematic plans, when, for example, one application sets a kinematic plan for executing a series of operations of a vehicle, such as autonomous driving, and the other system sporadically sets kinematic plans, the execution of the kinematic plan for executing the series of operations may be hindered by the sporadically set kinematic plans. For this reason, the one application may not be capable of realizing the series of intended operations of the vehicle. The present disclosure provides a motion manager, an autonomous driving apparatus, a control system, a vehicle, a control method of the vehicle, and a non-transitory storage medium that appropriately set a kinematic plan on driver assistance of the vehicle. A motion manager according to a first aspect of the present disclosure is configured to request motion of a vehicle according to a plurality of kinematic plans, set in each of a plurality of systems, on driver assistance of the vehicle to at least one of a plurality of actuators provided in the vehicle. The motion manager includes one or more processors configured to receive each piece of information indicating the kinematic plans from the plurality of systems including a first system and a second system, receive, from the first system, request information requesting to select a first kinematic plan by prioritizing the first kinematic plan set in the first system over a second kinematic plan set in the second system, arbitrate the kinematic plans and distribute a motion request to the vehicle to at least one of the actuators. The motion request is set based on arbitration results. In such a manner, it is possible to restrict the execution of the first kinematic plan from being hindered by the second kinematic plan. For this reason, it is possible to control the vehicle based on the kinematic plan set in the first system while restricting interference of functions between the first system and the second system. In the first aspect, the request information may include information requesting invalidation of the second kinematic plan set in the second system. In such a manner, in a case where the request information is received from the first system, when the second kinematic plan is invalidated, it is possible to restrict the execution of the first kinematic plan from being hindered by the second kinematic plan. In the first aspect, the request information may include information requesting to give the first kinematic plan set in the first system a higher priority than the second kinematic plan set in the second system. In such a manner, when the request information is received from the first system, the first kinematic plan has the higher priority than the second kinematic plan, and thus it is possible to restrict the execution of the first kinematic plan from being hindered by the second kinematic plan. In the first aspect, the one or more processors may be configured to arbitrate the kinematic plans according to the received request information. In such a manner, when the request information is received, the one or more processors arbitrate the kinematic plans according to the request information, and thus it is possible to restrict the execution of the first kinematic plan from being hindered by the second kinematic plan. In the first aspect, the one or more processors may be configured to output information on the request information to the second system. In such a manner, the information on the request information is output to the second system, and thus it is possible to